Conveyance system and method for underwater seismic exploration

ABSTRACT

The present disclosure is directed to a helical conveyor for underwater seismic exploration. The system can include a case having a cylindrical portion. A cap is positioned adjacent to a first end of the case. A conveyor having a helix structure is provided within the case. The conveyor can receive an ocean bottom seismometer (“OBS”) unit at a first end of the conveyer and transport the OBS unit via the helix structure to a second end of the conveyor to provide the OBS unit on the seabed to acquire the seismic data. The system can include a propulsion system to receive an instruction and, responsive to the instruction, facilitate movement of the case.

CROSS-REFERENCES TO RELATED APPLICATIONS

The present application claims the benefit of priority under 35 U.S.C. §120 as a continuation of U.S. patent application Ser. No. 15/216,085,filed Jul. 21, 2016, and titled “CONVEYANCE SYSTEM AND METHOD FORUNDERWATER SEISMIC EXPLORATION,” which claims the benefit of priorityunder 35 U.S.C. § 120 as a continuation-in-part of U.S. patentapplication Ser. No. 15/088,060 filed on Mar. 31, 2016, and titled“HELICAL CONVEYOR FOR UNDERWATER SEISMIC EXPLORATION,” each of which arehereby incorporated by reference herein in their entirety.

BACKGROUND

Seismic data may be evaluated to obtain information about subsurfacefeatures. The information can indicate geological profiles of asubsurface portion of earth, such as salt domes, bedrock, orstratigraphic traps, and can be interpreted to indicate a possiblepresence or absence of minerals, hydrocarbons, metals, or other elementsor deposits.

SUMMARY

At least one aspect is directed to a system to acquire seismic data froma seabed. The system can include a case. The system can include a cappositioned adjacent to a first end of the case. The system can include aconveyor having a helix structure. The conveyor can be provided withinthe case. The conveyor can have a first end and a second end. Theconveyor can receive an ocean bottom seismometer (“OBS”) unit at thefirst end of the conveyer. The conveyor can transport the OBS unit fromthe first end of the conveyor to the second end of the conveyor via thehelix structure. The conveyor can provide the OBS unit on the seabed toacquire the seismic data. A first distance between the first end of theconveyor and the cap can be less than a second distance between thesecond end of the conveyor and the cap. For example, the first end ofthe conveyor can be closer to the cap than the second end of theconveyor. The system can include a propulsion system. The propulsionsystem can receive an instruction. Responsive to the instruction, thepropulsion system can facilitate movement of the case.

The system can include a control unit. The control unit can provide theinstruction to the propulsion system. In some embodiments, thepropulsion system can include the control unit. The control unit can beexternal to, and remote from, the case. The control unit can transmit awired or wireless transmission comprising the instruction to thepropulsion system. The instruction can include an instruction to followan object moving through an aqueous medium. The instruction can includean instruction to follow a vessel towing the case through an aqueousmedium.

The propulsion system can include an energy source to provide energy.The propulsion system can include an engine to convert the providedenergy to mechanical energy to push surrounding water away from the casein a direction opposite a direction of movement of the case. The enginecan convert the provided energy to mechanical energy to move the case ina chosen direction. The chosen direction can be chosen by a controlunit, and conveyed via an instruction. The chosen direction can bechosen to allow the case to follow a vessel, e.g., as the vessel movesor changes directions. The propulsion system can include a means togenerate force to push surrounding water away from the case in adirection opposite a direction of movement of the case. The propulsionsystem can include, for example, at least one of a propeller, athruster, a paddle, an oar, a waterwheel, a screw propeller, a fixedpitch propeller, a variable pitch propeller, a ducted propeller, anazimuth propeller, a water jet, a fan, or a pump. The system can includea steering device to control a direction of the movement of the case.

The case can have a cylindrical shape. The system can include a firstfin extending from at least one of the cap or the case. The system caninclude a second fin extending from at least one of the cap or the case.The first fin can be separated from the second fin by a predeterminedangle to control rotation of the case through an aqueous medium. Thesystem can include a control unit configured to adjust at least one ofthe first fin or the second fin to control a direction of the movementof the case. The control unit can adjust the predetermined angleseparating the first fin from the second fin. The control unit canadjust at least one of the first fin or the second fin to reduce draggenerated in the aqueous medium.

At least one aspect is directed to a method for delivering a payloadtowards an ocean bottom. The method can include providing a case. Themethod can include providing a cap positioned adjacent to a first end ofthe case. The method can include providing a conveyor having a helixstructure. The conveyor can be provided within the case. The conveyorcan receive an ocean bottom seismometer (“OBS”) unit at a first end ofthe conveyer. The conveyor can transport the OBS unit from the first endof the conveyor to a second end of the conveyor via the helix structure.The conveyor can provide the OBS unit on the seabed to acquire theseismic data. A first distance between the first end of the conveyor andthe cap can less than a second distance between the second end of theconveyor and the cap. The method can include a propulsion system of thecase receiving an instruction to move the case. The method can includethe propulsion system moving the case based on, responsive to, or inaccordance with, the instruction.

The method can include a control unit providing the instruction to thepropulsion system. The control unit can provide the instruction via awired or wireless transmission. The method can include a control unitproviding the instruction to follow a position of an object through anaqueous medium. The method can include adjusting a fin of the case tocontrol a direction of the movement of the case.

At least one aspect is directed to a system for acquiring seismic datafrom a seabed. The system includes a case having a cylindrical portion.The system includes a cap positioned adjacent to a first end of thecase. The system includes a conveyor having a helix structure andprovided within the case. The conveyor can receive an ocean bottomseismometer (“OBS”) unit at a first end of the conveyer and transportthe OBS unit via the helix structure to a second end of the conveyor. Afirst distance between the first end of the conveyor and the cap can beless than a second distance between the second end of the conveyor andthe cap. The conveyor can facilitate providing the OBS unit on theseabed to acquire the seismic data.

The system can include one or more fins. For example, the system caninclude a first fin or a first fin and a second fin. The first fin canextend from at least one of the cap or the case. The second find canextend from at least one of the cap or the case. The first fin can beseparated from the second fin by a predetermined angle to controlrotation or spin of the case through an aqueous medium. The first andsecond fins can control rotation or spin or dampen rotation or spin byexerting force or creating and controlling the exerted force. Theexerted force can control rotation, impact steering, provide operationalstability when the case is being towed or at-rest. Dampening rotationcan include or refer to reducing rotational force or rotation by 5%,10%, 20%, 25%, 30% or more. Dampening rotation can refer to or includereducing the rate of rotation, or preventing a full rotation. The OBSunit can be attached to the seabed, positioned on the seabed, put incontact with the seabed, coupled to the seabed, or otherwise connectedto the seabed. For example, the OBS unit can be sufficiently connectedto the seabed to collect seismic data from or via the seabed.

The case can include one or more openings to allow the OBS unit to passthrough the case. For example, the case can include a first opening toreceive the OBS unit at the first end of the conveyor, and a secondopening to remove the OBS unit from the second end of the conveyor. Thecase can include a first gate configured to close the first opening anda second gate configured to obstruct the second opening. At least one ofthe first gate or the second gate can be under mechanical tension, suchas spring loaded or piston activated. At least one of the first gate orthe second gate can be open and closed along a vertical axis of thecylindrical portion. For example, an underwater vehicle can beconfigured to open or close the first gate or the second gate.

The cap can include a conical shape. A base of the cap can be coupled tothe first end of the case. The first fin and the second fin can bepositioned to generate drag in the aqueous medium to control therotation of the case. The first fin can separated from the second fin bythe predetermined angle to dampen rotation of the case when movedthrough the aqueous medium. The predetermined angle between the firstfin and the second fin can be between 70 and 110 degrees.

The center of the helix structure can extend along an axis of thecylindrical portion of the case. The conveyor can include one or aplurality of portions coupled together to form the helix structure. Theportions can include, for example, ⅛ turn portions, ⅕ turn portions, ¼turn portions, ⅓ turn portions, ½ turn portions, full turn portions, orother sized portion. The helix structure can include a spiral pitch,which can include or refer to a substantially constant pitch such as apitch that varies from one of the conveyor to another end of theconveyor by less than plus or minus 0.5 degrees, 1 degree, 2 degrees, 3degrees, 5 degrees, 10 degrees, 15 degrees, or 20 degrees.

The system can include a second conveyor having a second helix structureand provided within the case. The second conveyor can include a firstend that is a third distance between the cap, where the third distanceis greater than the first distance. The case can include one or moreopenings to allow one or more OBS units to pass through the case andonto at least one of the first conveyor or the second conveyor. Thesecond conveyor can include a second end that is a fourth distance fromthe cap, where the fourth distance is greater than the second distance.The first helix structure and the second helix structure can have thesame constant spiral pitch.

The system can include a second cap coupled to a second end of the caseopposite from the first end. The second cap can include ballast. Thesystem can include a support structure provided in the case, such as apole, column, pillar, grooves in the case, ribbing, walls of the case,cabling, or skid structure. The support structure can extend along anaxis of the cylindrical portion of the case and through a center of thehelix structure. The support structure can be coupled to at least one ofa first interior portion of the cap or a second interior portion of asecond cap. The support structure can support the conveyor.

The system can include a runner protruding from, and extending along, alongitudinal axis of the cylindrical portion of the case. The system caninclude a beacon positioned proximate to the first fin or the secondfin. The beacon can include at least one of an acoustic transponder or alight source (e.g., yellow light, white light). The system can includeother types of beacons such as wireless beacons, wired beacons, magneticbeacons, radio frequency beacons, motion beacons, or color-basedbeacons.

The conveyor can include an unpowered gravity conveyor. The conveyor canprovide the OBS unit to an underwater vehicle. The underwater vehiclecan include a capture appliance to receive the OBS unit via an openingat the second end of the conveyor. The underwater vehicle can include adeployment device to place the OBS unit on the seabed to acquire theseismic data.

At least one aspect is directed to a system for acquiring seismic datafrom a seabed. The system can include a case having a first portion thatis hydrodynamic and a second portion to produce drag to dampen rotationof the case moved through an aqueous medium. The system can include aconveyor having a helix structure and provided within the case. Theconveyor can be positioned to receive an OBS unit at a first end of theconveyer and transport the OBS unit via the helix structure to a secondend of the conveyor.

The case can include one or more openings. The case can include a firstopening configured to receive the OBS unit at the first end of theconveyor. The case can include a second opening to remove the OBS unitfrom the second end of the conveyor. The first opening and the cap canbe separated by a first distance. The second opening and the cap can beseparated by a second distance. The first distance can be less than thesecond distance. The conveyor can include a gravity conveyor that isunpowered.

At least one aspect is directed to a system for acquiring seismic datafrom a seabed. The system can include a case having a cylindricalportion. The system can include a cap positioned adjacent to a first endof the case. The system can include a conveyor having a helix structureand provided within the case. The conveyor can receive an OBS unit at afirst end of the conveyer and transport the OBS unit via the helixstructure to a second end of the conveyor. The system can include anunderwater vehicle comprising a capture appliance to receive the OBSunit via an opening at the second end of the conveyor. The system caninclude a deployment device of the underwater vehicle to place the OBSunit on the seabed to acquire the seismic data.

The system can include a first fin extending from at least one of thecap or the case. The system can include a second fin extending from atleast one of the cap or the case. The first fin can be separated fromthe second fin by a predetermined angle to control rotation of the casethrough an aqueous medium. The first fin and the second fin can beconfigured to generate drag in the aqueous medium to control therotation of the case. The underwater vehicle can retrieve the OBS unitfrom the seabed.

At least one aspect is directed to a system for acquiring seismic datafrom a seabed. The system can include a case having a cylindricalportion and one or more openings. The system can include a cappositioned adjacent to a first end of the case. The system can include afirst conveyor having a helix structure and provided within the case.The first conveyor can be configured to receive one or more OBS units ata first end of the first conveyer and transport the one or more OBSunits via the helix structure to a second end of the first conveyor. Thesystem can include an underwater vehicle comprising a retrieval deviceto retrieve an OBS unit connected to the seabed. The OBS unit can storeseismic data acquired via the seabed. The underwater vehicle can includea second conveyor to transfer the OBS unit retrieved from the seabed tothe first conveyor in the case via the one or more openings of the case.

The system can include a first fin extending from at least one of thecap or the case. The system can include a second fin extending from atleast one of the cap or the case. The first fin can be separated fromthe second fin by a predetermined angle to control rotation of the casethrough an aqueous medium.

The system can include a third conveyor having a helix structure andprovided within the case. The retrieval device can be configured toretrieve a second OBS unit connected to the seabed. The second conveyorcan be configured to transfer the second OBS unit retrieved from theseabed to the third conveyor in the case via the one or more openings ofthe case.

At least one aspect is directed to a system to deploy OBS units. Thesystem can include a case having a first portion to produce drag todampen rotation of the case moved through an aqueous medium. The systemcan include a first conveyor provided within the case to support one ormore OBS units. The first conveyor can have a helix structure. The casecan include a first opening at a first end of the first conveyor, and asecond opening at a second end of the first conveyor. The system caninclude a base to receive at least a portion of the case. The system caninclude a second conveyor positioned external to the case to support theone or more OBS units. The second conveyor can be constructed to move afirst OBS unit of the one or more OBS units into the first opening atthe first end of the first conveyor. The first conveyor can beconstructed to receive the first OBS unit and direct the first OBS unittowards the second opening at the second end of the first conveyor.

The system can include an elevator configured to position the secondconveyor to align the second conveyor with the first opening. The systemcan include a first gate configured to close the first opening. Thesecond conveyor can be configured to open the first gate. The secondconveyor can open the first gate to remove the first OBS unit from thehelix structure.

The system can include a crane. The system can include a cable coupledto the crane and the case. The crane can raise, lower, or support thecase via the cable. The crane can lower the case loaded with the one ormore OBS units onto the seabed via the cable. The crane can lower thecase loaded with the one or more OBS units into the aqueous medium. Thesystem can include a fin extending from the case. The fin can beconfigured to create force as the case moves through the aqueous mediumto dampen rotation of the case. The base can be configured to contactthe seabed and support the case on the seabed.

In some embodiments, the helix structure can be referred to as a firsthelix structure and the one or more OBS units can be referred to as afirst one or more OBS units. The system can include a third conveyorhaving a second helix structure provided within the case. The thirdconveyor can be configured to support a second one or more OBS units.The second one or more OBS units can be different from the first one ormore OBS units. The second one or more OBS units can be mutuallyexclusive from the first one or more OBS units. The system can include athird opening of the case at a third end of the second conveyor. Thesystem can include an elevator configured to raise or lower the secondconveyor. The elevator can align the second conveyor with the firstopening to load the first one or more OBS units onto the first conveyorvia the first opening. The elevator can align the second conveyor withthird opening to load the second one or more OBS units onto the thirdconveyor via the third opening. The first conveyor can be an unpoweredgravity conveyor, and the second conveyor can be a powered conveyor.

At least one aspect is directed to a method for deploying OBS units. Themethod includes providing a case. The method includes providing a firstconveyor within the case. The first conveyor can have a helix structureconfigured to support one or more OBS units. The case can include afirst opening at a first end of the first conveyor and a second openingat a second end of the first conveyor. The method includes providing abase to hold the case in a substantially vertical position. The methodincludes providing a second conveyor positioned external to the case andconfigured to support the one or more OBS units. The method includesloading, by the second conveyor, a first OBS unit of the one or more OBSunits into the case via the first opening at the first end of the firstconveyor. The method includes directing, by the first conveyor, thefirst OBS unit received from the second conveyor towards the secondopening at the second end of the first conveyor.

The case can include a first portion to produce drag to dampen rotationof the case moved through an aqueous medium. The method can includealigning, by an elevator, the second conveyor with the first opening.The method can include opening, by the second conveyor, a first gateclosing the first opening. The method can include removing, by thesecond conveyor, the first OBS unit from the first conveyor.

The method can include a crane positioning the case into the aqueousmedium. The crane can be coupled to the case via a cable. The method caninclude the crane positioning the case onto the seabed. The case caninclude the one or more OBS units. The method can include the cranepositioning the case loaded with the one or more OBS units into theaqueous medium. The method can include a fin creating force as the casemoves through the aqueous medium to dampen rotation of the case. The fincan extend from the case. The method can include the base contacting theseabed. The method can include the base supporting the case on theseabed.

In some embodiments, the helix structure is a first helix structure, andthe one or more OBS units are a first one or more OBS units. The methodcan include providing, within the case, a third conveyor having a secondhelix structure. The method can include loading a second one or more OBSunits onto the third conveyor.

At least one aspect of the present disclosure is directed to a system toacquire seismic data from a seabed. The system includes an underwatervehicle comprising a skid structure. The system includes a conveyorprovided in the skid structure. The conveyor has a first end and asecond end opposite the first end. The system includes a captureappliance provided at the first end of the conveyor. The captureappliance includes an arm to close to hold a case storing one or moreOBS units. The capture appliance can open to release the case. Thecapture appliance can include an alignment mechanism to align an openingof the case with the first end of the conveyor. The system can include adeployment appliance at the second end of the conveyor to place an OBSunit of the one or more OBS units onto the seabed to acquire seismicdata from the seabed.

The conveyor can include a belt or a plurality of rollers to move an OBSunit of the one or more OBS units from the first end of the conveyor tothe second end of the conveyor. The arm can include one or more arms,such as a first arm and a second arm. The first arm can be coupled to afirst portion of the conveyor. The second arm can be opposite from thefirst arm, and be coupled to a second portion of the conveyor. The firstand second portions of the conveyor can be same or different portions ofthe conveyor. The first arm and the second arm can be operational tomove from an open position to a closed position to capture the case. Thefirst arm and the second arm can move from the closed position to theopen position to release the case. For example, the first arm and thesecond arm can form, define, include, or otherwise provide a clamp.

The alignment mechanism can include a notch that can hold the case in apredetermined orientation. The notch can receive a protrusion extendingalong the case to hold the case in the predetermined orientation. Thenotch can include a tapered notch. The alignment mechanism can include aprotrusion that holds the case in a predetermined orientation. Theprotrusion can be further configured to insert at least in part into anotch on the case to hold the case in the predetermined orientation.

The system can include a sensor configured to detect a signal receivedfrom the case. The signal can include at least one of an acoustic signalor a light signal. The ping can indicate a position of the underwatervehicle in an aqueous medium. The ping can indicate a depth of theunderwater vehicle in the aqueous medium relative to the case. Theunderwater vehicle can include a remotely operated vehicle or anautonomously operated vehicle. The underwater vehicle can include aretrieval mechanism to retrieve the OBS unit of the one or more OBSunits from the seabed. The OBS unit of the one or more OBS units canstore, in memory, the seismic data acquired from the seabed.

The system can include a gate adjacent to the deployment appliance. Thegate can be configured to open from a closed position to deploy the OBSunit of the one or more OBS units onto the seabed. The underwatervehicle can open or close the gate.

At least one aspect is directed to a system to acquire seismic data froma seabed. The system can include an underwater vehicle having a skidstructure. The system can include a conveyor provided in the skidstructure. The conveyor can have a first end and a second end oppositethe first end. The system can include a capture appliance provided atthe first end of the conveyor. The capture appliance including an arm toclose to hold a case having one or more ocean bottom seismometer (“OBS”)units on a helix structure in the case, and to open to release the case.The capture appliance includes an alignment mechanism to align anopening of the case with the first end of the conveyor. The conveyor canreceive, via the opening of the case and from an end of the helixstructure in the case, an OBS unit of the one or more OBS units. Thesystem can include a deployment appliance located or positioned at ornear the second end of the conveyor. The deployment appliance includes aramp that places the OBS unit of the one or more OBS units onto theseabed to acquire seismic data from the seabed via the OBS unit of theone or more OBS units.

The conveyor can include a belt or a plurality of rollers to move theOBS unit of the one or more OBS units from a first end of the conveyorto a second end of the conveyor. A portion of the ramp can contact theseabed. The underwater vehicle can include a retrieval mechanism toretrieve the OBS unit of the one or more OBS units from the seabed. TheOBS unit of the one or more OBS units can store, in memory, the seismicdata acquired from the seabed.

At least one aspect is directed to a method for acquiring seismic datafrom a seabed. The method can include a sensor of an underwater vehicleidentifying a case constructed to store one or more ocean bottomseismometer (“OBS”) units. The underwater vehicle can include a conveyorand an arm. The method includes positioning the underwater vehicle sothat the arm is in an open state above a cap of the case. The methodincludes closing, by an actuator of the underwater vehicle, the arm. Themethod includes moving, by the underwater vehicle, the arm toward abottom portion of the case opposite the cap. An opening of the case canbe aligned with the conveyor of the underwater vehicle. The methodincludes receiving, by the conveyor via the opening of the case, a firstOBS unit of the one or more OBS units. The method includes placing, bythe underwater vehicle, the first OBS unit on the seabed to acquireseismic data from the seabed.

The sensor can detect a ping from a transponder on the case. Theunderwater vehicle can use the ping to position the arm in the openstate above the case. The underwater vehicle can determine a depth ofthe underwater vehicle relative to the case based on the ping. Theunderwater vehicle can move the arm in the open state towards a cableconnected to the cap of the case that supports the case in an aqueousmedium.

The case can include a first portion that is hydrodynamic and a secondportion configured to produce drag to prevent rotation of the casethrough an aqueous medium. The case can include a portion having aconical shape, a domed shape, or a hydrodynamic shape. The method caninclude locking, in a notch of the arm, a runner of the case to alignthe opening of the case with the conveyor.

A gate on the case that blocks the first OBS unit from moving throughthe opening of the case can be mechanically opened. For example, thegate can be spring-loaded. The underwater vehicle can open the gate onthe case. The underwater vehicle can run, initiate, start, operate, orother cause the conveyor to retrieve the first OBS unit from the case.The conveyor can receive, via the opening of the case, the first OBSunit from a helix structure in the case supporting the one or more OBSunits. The conveyor can receive, via the opening of the case, a secondOBS unit of the one or more OBS units. The second OBS unit can move downthe helix structure towards the opening. The conveyor can receive, viathe opening, a third OBS unit of the one or more OBS units. The thirdOBS unit can move down the helix structure towards the openingresponsive to the conveyor receiving the first OBS unit and the secondOBS unit.

The method can include inserting, by a second conveyor, the first OBSunit into the case via a second opening of the case. A helix structurein the can receive the first OBS unit via the second opening. The firstOBS unit can move towards the opening via the helix structure. The helixstructure can include an unpowered gravity conveyor. The method caninclude placing the case on a base configured to support the case.

The method can include providing one or more OBS units for reception byone or more helix structures in the case via one or more openings of thecase. For example, a single opening can be used to provide OBS units tomultiple helix structures within the case. In another example, a firstopening in the case can be used to provide OBS units to a first helixstructure in the case, and a second opening in the case can be used toprovide OBS units to a second helix structure in the case. The first andsecond openings can be located above one another, adjacent one another,near one another, in a horizontal plane, vertical plane or diagonalplane.

The method can include inserting the first OBS unit into the case placedon the receptacle. In some embodiments, the method can includeinserting, by the second conveyor, a second OBS unit of the one or moreOBS units into the case via a third opening of the case. A second helixstructure in the case can receive the second OBS unit via the thirdopening. The second OBS unit can move, via the second helix structure,towards a fourth opening of the case below the second opening.

The method can include placing the case on a receptacle configured tosupport the case. The receptacle can be in contact with the seabed. Theconveyor of the underwater vehicle can receive the first OBS unit fromthe case on the receptacle.

At least one aspect is directed to a system to acquire seismic data froma seabed. The system includes an underwater vehicle having a sensor. Thesensor can be used to identify a case. The case can have a hydrodynamicshape and store one or more OBS units. The underwater vehicle can havean arm and an actuator to position the arm in an open state above a capof the case, or close the arm. The underwater vehicle can be configuredto move the arm to a bottom portion of the case opposite the cap. Theunderwater vehicle can move the arm such that an opening of the case isaligned with the conveyor of the underwater vehicle. The conveyor can beconfigured to receive, via the opening of the case, a first OBS unit ofthe one or more OBS units. The conveyor can move the first OBS unit tothe seabed to acquire seismic data from the seabed.

The case can include a first portion that is hydrodynamic and a secondportion configured to produce drag to dampen rotation of the casethrough an aqueous medium. The case can include a helix structure tostore the one or more OBS units and convey the one or more OBS unitsfrom a second opening of the case to the opening of the case. A firstdistance between the opening and the cap can be less than a seconddistance between the second opening and the cap. The case can include aplurality of helix structures to store the one or more OBS units. Theunderwater vehicle can include at least one of a remotely operatedvehicle or an autonomously operated vehicle.

In some embodiments, the case can be a solid, continuously closed case.In some embodiments, the case can include perforations, holes, a mesh, askeleton type structure, or a lattice structure configured to containOBS units.

BRIEF DESCRIPTION OF THE DRAWINGS

The details of one or more embodiments of the subject matter describedin this specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages of thesubject matter will become apparent from the description, the drawings,and the claims. The drawings are not intended to be drawn to scale. Likereference numbers and designations in the various drawings indicate likeelements. For purposes of clarity, not every component may be labeled inevery drawing. In the drawings:

FIG. 1A is an isometric schematic view of an embodiment of a seismicoperation in deep water.

FIG. 1B is an isometric schematic view of an embodiment of a seismicoperation in deep water.

FIG. 2A is a system for acquiring seismic data, in accordance with anembodiment.

FIG. 2B is a side perspective view of a system for acquiring seismicdata, in accordance with an embodiment.

FIG. 2C is a top perspective view of a system for acquiring seismicdata, in accordance with an embodiment.

FIG. 2D is a system for acquiring seismic data comprising a propulsionsystem, in accordance with an embodiment.

FIG. 2E is a side perspective view of a system for acquiring seismicdata comprising a propulsion system, in accordance with an embodiment.

FIG. 3 illustrates a conveyor provided for the system for acquiringseismic data, in accordance with an embodiment.

FIG. 4A is a system for acquiring seismic data, in accordance with anembodiment.

FIG. 4B is a side perspective view of a system for acquiring seismicdata, in accordance with an embodiment.

FIG. 4C is a top perspective view of a system for acquiring seismicdata, in accordance with an embodiment.

FIG. 5 illustrates multiple conveyors provided for the system foracquiring seismic data, in accordance with an embodiment.

FIG. 6A illustrates a system to transfer units to or from a case inaccordance with an embodiment.

FIG. 6B illustrates a system to transfer units to or from a case inaccordance with an embodiment.

FIG. 7 illustrates a system to transfer units to or from a seabed inaccordance with an embodiment.

FIG. 8A illustrates a skid system to acquire seismic data from a seabedin accordance with an embodiment.

FIG. 8B illustrates a skid system to acquire seismic data from a seabedin accordance with an embodiment.

FIG. 8C illustrates a skid system to acquire seismic data from a seabedin accordance with an embodiment.

FIG. 9 illustrates a system to acquire seismic data from a seabed, inaccordance with an embodiment.

FIG. 10 illustrates a system to acquire seismic data from a seabed, inaccordance with an embodiment.

FIG. 11 illustrates a system to acquire seismic data from a seabed, inaccordance with an embodiment.

FIG. 12 illustrates a system to acquire seismic data from a seabed, inaccordance with an embodiment.

FIG. 13 illustrates a system to acquire seismic data from a seabed, inaccordance with an embodiment.

FIG. 14 illustrates a system to acquire seismic data from a seabed, inaccordance with an embodiment.

FIG. 15 illustrates a system to acquire seismic data from a seabed, inaccordance with an embodiment.

FIG. 16 is a flow diagram of an embodiment of a method of acquiringseismic data from a seabed.

FIG. 17 is a block diagram of an embodiment of a system for acquiringseismic data from a seabed.

FIG. 18 is a flow diagram of an embodiment of a method for acquiringseismic data from a seabed.

FIG. 19 is a block diagram illustrating a general architecture for acomputer system that may be employed to implement various elements ofthe embodiments shown in FIGS. 1A-18.

DETAILED DESCRIPTION

Systems, methods, and apparatus of the present disclosure generallyrelate to acquiring seismic data from or via a seabed. The variousconcepts introduced above and discussed in greater detail below may beimplemented in any of numerous ways.

The system can use a torpedo shaped transfer system or transfer deviceto transfer or transport OBS units from a location above the surface ofwater to a location below the surface of water at a seabed. The torpedoshaped transfer system can be used to retrieve OBS units from the seabedor a location below the surface of water, back to a location above thesurface of water, such as onto a vessel. The torpedo shaped transfersystem or device can include a cylindrical case with a spiral structure,helix structure, spiral slide, or coil provided within the case. Thecase can include one or more fins or protrusions configured to produceor exert a force (e.g., drag) that can stabilize rotation of the case(e.g., within 10 degrees of rotation). In some embodiments, the case maybe a hydrodynamic shape configured to produce the drag to stabilizerotation without using fins. A height of the cylindrical case can begreater than a diameter of the cylinder. The helix structure can providean unpowered, gravity conveyor that allows OBS units to slide from a topportion of the helix structure to a bottom portion of the helixstructure to facilitate loading and unloading the transfer device.

The system can include a propulsion system. The case can include thepropulsion system. The propulsion system can move the case through theaqueous medium. The propulsion system can include a propeller or otherthruster that can move the case through water. For example, the case canbe towed by a vessel via a cable. When the vessel turns, for example,the case may at least initially continue in a direction the vessel wasmoving prior to turning. Thus, the case may not be at a desired locationin the aqueous medium or water column as the vessel turns. Thepropulsion system can move the case such that the case follows thevessel. For example, the propulsion system can include a steering deviceor mechanism and thruster to move the case in a desired direction suchthat the case follows the vessel. The propulsion can include a localcontrol unit, or the propulsion system can receive instructions from aremote control unit. The propulsion system can receive instructions tomove in a direction. The propulsion system can receive an instruction tomove in a direction with a predetermined amount of force. Thus, thepropulsion system can allow the case to follow a position of the vesselor boat as the vessel or boat travels through the aqueous medium.

Referring now to FIG. 1A, an isometric schematic view of an embodimentof a seismic operation in deep water facilitated by a first marinevessel 5 is shown. The data processing system can obtain the seismicdata via the seismic operation. While this figure illustrates a deepwater seismic operation, the systems and methods described herein canuse seismic data obtained via streamer data, land-based seismicoperations. In this example, the first vessel 5 is positioned on asurface 10 of a water column 15 and includes a deck 20 which supportsoperational equipment. At least a portion of the deck 20 includes spacefor a plurality of sensor device racks 90 where seismic sensor devices(or seismic data acquisition units or nodes) are stored. The sensordevice racks 90 may also include data retrieval devices or sensorrecharging devices.

The deck 20 also includes one or more cranes 25A, 25B attached theretoto facilitate transfer of at least a portion of the operationalequipment, such as an autonomous underwater vehicle (AUV), autonomouslyoperated vehicle (AOV), an ROV or seismic sensor devices, from the deck20 to the water column 15. For example, a crane 25A coupled to the deck20 is configured to lower and raise an ROV 35A, which transfers andpositions one or more sensor devices 30 (e.g., OBS units) on a seabed55. The ROV 35A can be coupled to the first vessel 5 by a tether 46A andan umbilical cable 44A that provides power, communications, and controlto the ROV 35A. A tether management system (TMS) 50A is also coupledbetween the umbilical cable 44A and the tether 46A. Generally, the TMS50A may be utilized as an intermediary, subsurface platform from whichto operate the ROV 35A. For most ROV 35A operations at or near theseabed 55, the TMS 50A can be positioned approximately 50 feet aboveseabed 55 and can pay out tether 46A as needed for ROV 35A to movefreely above seabed 55 in order to position and transfer seismic sensordevices 30 thereon. The seabed 55 can include or refer to a continentalshelf.

A crane 25B may be coupled (e.g., via a latch, anchor, nuts and bolts,screw, suction cup, magnet, or other fastener.) to a stern of the firstvessel 5, or other locations on the first vessel 5. Each of the cranes25A, 25B may be any lifting device or launch and recovery system (LARS)adapted to operate in a marine environment. The crane 25B may be coupledto a seismic sensor transfer device 100 by a cable 70. The transferdevice 100 can include one or more component, function or feature ofsystems 200, 300, 400, or 500. The transfer device 100 may be a drone, askid structure, a basket, or any device capable of housing one or moresensor devices 30 therein. The transfer device 100 may be a structureconfigured as a magazine adapted to house and transport one or moresensor devices 30. The transfer device 100 may be configured as a sensordevice storage rack for transfer of sensor devices 30 from the firstvessel 5 to the ROV 35A, and from the ROV 35A to the first vessel 5. Thetransfer device 100 may include an on-board power supply, a motor orgearbox, or a propulsion system. In some embodiments, the transferdevice 100 may not include any integral power devices or not require anyexternal or internal power source. In some embodiments, the cable 70 mayprovide power or control to the transfer device 100. In someembodiments, the transfer device 100 can operate without external poweror control. In some embodiments, the cable 70 may include an umbilical,a tether, a cord, a wire, a rope, and the like, that is configured tosupport, tow, position, power or control the transfer device 100.

The ROV 35A can include a seismic sensor device storage compartment 40that is configured to store one or more seismic sensor devices 30therein for a deployment or retrieval operation. The storage compartment40 may include a magazine, a rack, or a container configured to storethe seismic sensor devices. The storage compartment 40 may also includea conveyor, such as a movable platform having the seismic sensor devicesthereon, such as a carousel or linear platform configured to support andmove the seismic sensor devices 30 therein. In one embodiment, theseismic sensor devices 30 may be deployed on the seabed 55 and retrievedtherefrom by operation of the movable platform. The ROV 35A may bepositioned at a predetermined location above or on the seabed 55 andseismic sensor devices 30 are rolled, conveyed, or otherwise moved outof the storage compartment 40 at the predetermined location. In someembodiments, the seismic sensor devices 30 may be deployed and retrievedfrom the storage compartment 40 by a robotic device 60, such as arobotic arm, an end effector or a manipulator, disposed on the ROV 35A.

The seismic sensor device 30 may be referred to as seismic dataacquisition unit 30 or node 30. The seismic data acquisition unit 30 canrecord seismic data. The seismic data acquisition unit 30 may includeone or more of at least one geophone, at least one power source (e.g., abattery, external solar panel), at least one clock, at least one tiltmeter, at least one environmental sensor, at least one seismic datarecorder, at least global positioning system sensor, at least onewireless or wired transmitter, at least one wireless or wired receiver,at least one wireless or wired transceiver, or at least one processor.The seismic sensor device 30 may be a self-contained unit such that allelectronic connections are within the unit. During recording, theseismic sensor device 30 may operate in a self-contained manner suchthat the node does not require external communication or control. Theseismic sensor device 30 may include several geophones configured todetect acoustic waves that are reflected by subsurface lithologicalformation or hydrocarbon deposits. The seismic sensor device 30 mayfurther include one or more geophones that are configured to vibrate theseismic sensor device 30 or a portion of the seismic sensor device 30 inorder to detect a degree of coupling between a surface of the seismicsensor device 30 and a ground surface. One or more component of theseismic sensor device 30 may attach to a gimbaled platform havingmultiple degrees of freedom. For example, the clock may be attached tothe gimbaled platform to minimize the effects of gravity on the clock.

For example, in a deployment operation, a first plurality of seismicsensor devices, comprising one or more sensor devices 30, may be loadedinto the storage compartment 40 while on the first vessel 5 in apre-loading operation. The ROV 35A, having the storage compartmentcoupled thereto, is then lowered to a subsurface position in the watercolumn 15. The ROV 35A utilizes commands from personnel on the firstvessel 5 to operate along a course to transfer the first plurality ofseismic sensor devices 30 from the storage compartment 40 and deploy theindividual sensor devices 30 at selected locations on the seabed 55 orground surface 55 or sea floor 55 or earth surface 55 in a land baseddeployment. Once the storage compartment 40 is depleted of the firstplurality of seismic sensor devices 30, the transfer device 100 (ortransfer system 100, 200 or 400) can be used to ferry a second pluralityof seismic sensor devices 30 as a payload from first vessel 5 to the ROV35A.

The transfer system 100 may be preloaded with a second plurality ofseismic sensor devices 30 while on or adjacent the first vessel 5. Whena suitable number of seismic sensor devices 30 are loaded onto thetransfer device 100, the transfer device 100 may be lowered by crane 25Bto a selected depth in the water column 15. The ROV 35A and transferdevice 100 are mated at a subsurface location to allow transfer of thesecond plurality of seismic sensor devices 30 from the transfer device100 to the storage compartment 40. When the transfer device 100 and ROV35A are mated, the second plurality of seismic sensor devices 30contained in the transfer device 100 are transferred to the storagecompartment 40 of the ROV 35A. Once the storage compartment 40 isreloaded, the ROV 35A and transfer device 100 are detached or unmatedand seismic sensor device placement by ROV 35A may resume. In oneembodiment, reloading of the storage compartment 40 is provided whilethe first vessel 5 is in motion. If the transfer device 100 is emptyafter transfer of the second plurality of seismic sensor devices 30, thetransfer device 100 may be raised by the crane 25B to the vessel 5 wherea reloading operation replenishes the transfer device 100 with a thirdplurality of seismic sensor devices 30. The transfer device 100 may thenbe lowered to a selected depth when the storage compartment 40 needs tobe reloaded. This process may repeat as needed until a desired number ofseismic sensor devices 30 have been deployed.

Using the transfer device 100 to reload the ROV 35A at a subsurfacelocation reduces the time required to place the seismic sensor devices30 on the seabed 55, or “planting” time, as the ROV 35A is not raisedand lowered to the surface 10 for seismic sensor device reloading.Further, mechanical stresses placed on equipment utilized to lift andlower the ROV 35A are minimized as the ROV 35A may be operated below thesurface 10 for longer periods. The reduced lifting and lowering of theROV 35A may be particularly advantageous in foul weather or rough seaconditions. Thus, the lifetime of equipment may be enhanced as the ROV35A and related equipment are not raised above surface 10, which maycause the ROV 35A and related equipment to be damaged, or pose a risk ofinjury to the vessel personnel.

Likewise, in a retrieval operation, the ROV 35A can utilize commandsfrom personnel on the first vessel 5 to retrieve each seismic sensordevice 30 that was previously placed on seabed 55. The retrieved seismicsensor devices 30 are placed into the storage compartment 40 of the ROV35A. In some embodiments, the ROV 35A may be sequentially positionedadjacent each seismic sensor device 30 on the seabed 55 and the seismicsensor devices 30 are rolled, conveyed, or otherwise moved from theseabed 55 to the storage compartment 40. In some embodiments, theseismic sensor devices 30 may be retrieved from the seabed 55 by arobotic device 60 disposed on the ROV 35A.

Once the storage compartment 40 is full or contains a pre-determinednumber of seismic sensor devices 30, the transfer device 100 can belowered to a position below the surface 10 and mated with the ROV 35A.The transfer device 100 may be lowered by crane 25B to a selected depthin the water column 15, and the ROV 35A and transfer device 100 aremated at a subsurface location. Once mated, the retrieved seismic sensordevices 30 contained in the storage compartment 40 are transferred tothe transfer device 100. Once the storage compartment 40 is depleted ofretrieved sensor devices, the ROV 35A and transfer device 100 aredetached and sensor device retrieval by ROV 35A may resume. Thus, thetransfer device 100 can ferry the retrieved seismic sensor devices 30 asa payload to the first vessel 5, allowing the ROV 35A to continuecollection of the seismic sensor devices 30 from the seabed 55. In thismanner, sensor device retrieval time is significantly reduced as the ROV35A is not raised and lowered for sensor device unloading. Further,mechanical stresses placed on equipment related to the ROV 35A areminimized as the ROV 35A may be subsurface for longer periods.

In this embodiment, the first vessel 5 may travel in a first direction75, such as in the +X direction, which may be a compass heading or otherlinear or predetermined direction. The first direction 75 may alsoaccount for or include drift caused by wave action, current(s) or windspeed and direction. In one embodiment, the plurality of seismic sensordevices 30 are placed on the seabed 55 in selected locations, such as aplurality of rows R_(n) in the X direction (R₁ and R₂ are shown) orcolumns C_(n) in the Y direction (C₁, C₂, C₃, and C₄ are shown), whereinn equals an integer. In one embodiment, the rows R_(n) and columns C_(n)define a grid or array, wherein each row R_(n) comprises a receiver linein the width of a sensor array (X direction) or each column C_(n)comprises a receiver line in a length of the sensor array (Y direction).The distance between adjacent sensor devices 30 in the rows is shown asdistance L_(R) and the distance between adjacent sensor devices 30 inthe columns is shown as distance L_(C). While a substantially squarepattern is shown, other patterns may be formed on the seabed 55. Otherpatterns include non-linear receiver lines or non-square patterns. Thepattern(s) may be pre-determined or result from other factors, such astopography of the seabed 55. In some embodiments, the distances L_(R)and L_(C) may be substantially equal (e.g., plus or minus 10% of eachother) and may include dimensions between about 60 meters to about 400meters. In some embodiments, the distances L_(R) and L_(C) may bedifferent. In some embodiments, the distances L_(R) or L_(C) may includedimensions between about 400 meters to about 1100 meters. The distancebetween adjacent seismic sensor devices 30 may be predetermined orresult from topography of the seabed 55 as described above.

The first vessel 5 is operated at a speed, such as an allowable or safespeed for operation of the first vessel 5 and any equipment being towedby the first vessel 5. The speed may take into account any weatherconditions, such as wind speed and wave action, as well as currents inthe water column 15. The speed of the vessel may also be determined byany operations equipment that is suspended by, attached to, or otherwisebeing towed by the first vessel 5. For example, the speed is typicallylimited by the drag coefficients of components of the ROV 35A, such asthe TMS 50A and umbilical cable 44A, as well as any weather conditionsor currents in the water column 15. As the components of the ROV 35A aresubject to drag that is dependent on the depth of the components in thewater column 15, the first vessel speed may operate in a range of lessthan about 1 knot. For example, when two receiver lines (rows R₁ and R₂)are being laid, the first vessel includes a first speed of between about0.2 knots and about 0.6 knots. In some embodiments, the first speedincludes an average speed of between about 0.25 knots, which includesintermittent speeds of less than 0.25 knots and speeds greater thanabout 1 knot, depending on weather conditions, such as wave action, windspeeds, or currents in the water column 15.

During a seismic survey, one receiver line, such as row R₁ may bedeployed. When the single receiver line is completed a second vessel 80is used to provide a source signal. The second vessel 80 is providedwith a source device 85, which may be a device capable of producingacoustical signals or vibrational signals suitable for obtaining thesurvey data. The source signal propagates to the seabed 55 and a portionof the signal is reflected back to the seismic sensor devices 30. Thesecond vessel 80 may be required to make multiple passes, for example atleast four passes, per a single receiver line (row R₁ in this example).During the time the second vessel 80 is making the passes, the firstvessel 5 continues deployment of a second receiver line. However, thetime involved in making the passes by the second vessel 80 can beshorter than the deployment time of the second receiver line. Thiscauses a lag time in the seismic survey as the second vessel 80 sitsidle while the first vessel 5 is completing the second receiver line.

In some embodiments, the first vessel 5 can utilize an ROV 35A to laysensor devices to form a first set of two receiver lines (rows R₁ andR₂) in any number of columns, which may produce a length of eachreceiver line of up to and including several miles. The two receiverlines (rows R₁ and R₂) can be substantially parallel, e.g. within +/−20degrees of parallel. When a single directional pass of the first vessel5 is completed and the first set (rows R₁, R₂) of seismic sensor devices30 are laid to a predetermined length, the second vessel 80, providedwith the source device 85, is utilized to provide the source signal. Thesecond vessel 80 may make eight or more passes along the two receiverlines to complete the seismic survey of the two rows R₁ and R₂.

While the second vessel 80 is shooting along the two rows R₁ and R₂, thefirst vessel 5 may turn 180 degrees and travel in the −X direction inorder to lay seismic sensor devices 30 in another two rows adjacent therows R₁ and R₂, thereby forming a second set of two receiver lines. Thesecond vessel 80 may then make another series of passes along the secondset of receiver lines while the first vessel 5 turns 180 degrees totravel in the +X direction to lay another set of receiver lines. Theprocess may repeat until a specified area of the seabed 55 has beensurveyed. Thus, the idle time of the second vessel 80 is minimized asthe deployment time for laying receiver lines is cut approximately inhalf by deploying two rows in one pass of the vessel 5.

Although only two rows R₁ and R₂ are shown, the sensor device 30 layoutis not limited to this configuration as the ROV 35A may be adapted tolayout more than two rows of sensor devices in a single directional tow.For example, the ROV 35A may be controlled to lay out between three andsix rows of sensor devices 30, or an even greater number of rows in asingle directional tow. The width of a “one pass” run of the firstvessel 5 to layout the width of the sensor array is typically limited bythe length of the tether 46A or the spacing (distance L_(R)) betweensensor devices 30.

FIG. 1B is an isometric schematic view of an embodiment of a seismicoperation in deep water. FIG. 1B illustrates an embodiment of theseismic operation comprising a propulsion system 105 to move thetransfer device 100 such that the transfer device 100 can follow themarine vessel 5. The propulsion system 105 can move the transfer device100 as the transfer device 100 is towed by the marine vessel 5. Themarine vessel 5 can tow the transfer device 100 using a crane 25B. Thecrane 25B can tow the transfer device 100 using a cable 70. The cable 70can include a rope or other type of cable configured to mechanicallycouple the transfer device 100 to the crane such that the marine vessel5 can tow the transfer device 100 through the aqueous medium.

The system can include a control unit 110. The control unit 110 can belocated on the deck 20 of the marine vessel 5. The control unit 110 canbe referred to as a remote control unit 110. The control unit 110 can beplaced under the deck 20, such as in a computer room or server room. Thecontrol unit 110 can be placed on land and communicate via wirelesscommunications to the propulsion system 105.

The control unit 110 can provide instructions to the propulsion system105. The control unit 110 can provide instructions to the propulsionssystem 105 to cause the transfer device 100 to follow the marine vessel5. For example, the control unit 110 can instruct the propulsions system105 to steer the transfer device 100 to the left or the right. Thecontrol unit 110 can instruct the propulsion system 105 to steer or movethe transfer device based on a steering or motion of the vessel 5. Forexample, the control unit 110 can be communicatively coupled to asteering mechanism of the vessel 5. The control unit 110 can receive anindication that the vessel 5 is moving towards a first direction at afirst rate. The control unit 110 can determine, based on the receivedindication, a direction in which the transfer device 100 is to move inorder for the transfer device to follow the vessel 5 at a desiredlocation. The control unit 110 can further determine, based on thereceived indication, a rate at which the transfer device 100 is to moveto follow the vessel 5 at the desired location. The desired location canbe, for example, a distance from an end of the vessel 5 (e.g., thebackend of the vessel). The desired location can include, for example,an X-Y coordinate relative to the vessel 5. The X-Y coordinate can referto an X-Y coordinate on a horizontal plane parallel to the deck 20 ofthe vessel 5. The X-axis can extend along a width of the deck 20, andthe Y-axis can extend along a length of the deck 20. For example, acorner at the backend of the deck 20 of the vessel 5 can refer to X-Ycoordinate (0,0), and the desired location can be (5 meters, 100meters). The control unit 110 can provide instructions to the propulsionsystem 105 to maintain the transfer device 100 at the desired location.In some embodiments, the desired location can include a singlecoordinate, such as an x-coordinate. For example, the y-coordinate canbe fixed based on the length of the cable 70, so the propulsion system105 can control the movement in the x-axis.

FIG. 2A is a system for acquiring seismic data in accordance with anembodiment. The system 200 includes a case 202. The system 200 includesa cap 204 positioned adjacent to a first end of the case 200. The system200 can include a conveyor 302 (shown in FIG. 3). The conveyor 302 canhave a helical shape. The transfer device 100 can include one or morecomponent, feature or function of system 200.

The system 200 can include a portion to produce drag as the case 202moves through an aqueous medium. For example, the system 200 (e.g., amarine seismic OBS storage case) can include an element to controlrotation, such as a steering element, stabilization member, a fin,extrusion, or protrusion. The system 200 can include a first fin 206extending from at least one of the cap 204 or the case 202. The system200 can include a second fin 208 extending from at least one of the cap204 or the case 202. The first fin 206 can be separated from the secondfin 208 by a predetermined angle 210 to control rotation, controlmotion, or create a force to be exerted on the case 202 to control adynamic or motion of the case 202 as it moves through an aqueous medium.Thus, the system 200 can be constructed and configured without any fins,with a single fin, or with a plurality of fins.

In further detail, the system 200 includes a case 202. The case 202 canbe made from or composed of one or more materials that are suitable foruse in an aqueous environment. For example, the case can include one ormore of plastics, metals, fiberglass, PolyVinyl Chloride, steel, iron,composite materials, steel-reinforced cement, or aluminum. The materialused to make the case can be selected based on a coefficient of frictionof the material. For example, the material can be selected in order toreduce the friction or drag force caused by the case 202 as the case 202moves through the aqueous medium. The case can be polished or smoothedto reduce drag.

In some embodiments, the case 202 can be formed as a continuous, solidstructure. The case 202 can be an open-ended case at one or both ends,or a closed-ended case at one or both ends. The case 202 can include anexterior surface that is a continuous sheet of material, closed ornon-porous. In some embodiments, the surface of the case 202 can includea porous structure. For example, the case 202 can include perforations,holes, a mesh, a skeleton type structure, or a lattice structure. Thecase 202 can be constructed to hold or contain one or more OBS unitswithin the case such that the OBS units do not fall out of the casewhile the case is transported or moved from one position to another.

The case 202 can be constructed to be hydrodynamic in order to travelthrough an aqueous medium, such as an ocean, sea, lake, river, shore,intertidal zones, or other body of water. Hydrodynamic can refer to ashape that facilitates the case moving through the aqueous medium byreducing drag. Drag or drag force can include one or more ofhydrodynamic drag, pressure drag, form drag, profile drag, oraerodynamic drag. Drag can refer to the force on an object that resiststhe motion of the object through a fluid, such as water. For example,drag can refer to the portion of the drag force that is due to inertiaof the fluid, such as the resistance of the fluid to being pushed asideas the case 202 is moved through the aqueous medium.

The drag force can be determined using the following equation: R=½ρCAv2,where R refers to drag force; ρ refers to the density of the fluid oraqueous medium (e.g., ocean water can have a density of 1027 kHz/m3 dueto the salt in the ocean); C refers to a coefficient of drag that takesinto account factors such as shape, texture, viscosity, compressibility,lift, or boundary layer separation; A refers to the cross sectional areaprojected in the direction of motion; v refers to the speed of the case202 as it moves through the aqueous medium (e.g., the speed can be themagnitude of the velocity of the case relative to the aqueous medium).

The system 200 can include one or more caps 204 positioned adjacent to afirst end of the case 200. In some embodiments, the case 202 and cap 204can be a single component. In some embodiments, the case 202 and cap 204can be separate components that are assembled together, connected,coupled, joined or otherwise affixed adjacent to one another. The cap204 can be connected, coupled, joined or otherwise affixed to the case202 in an irremovable manner or a removable manner. For example, the cap204 can be fixed to the case 202 using one or more screws, bolts, nuts,latches, magnets, adhesives, solder, pins, clips, a tongue and groovejoint, or a mechanical splice. In some embodiments, the cap 204 can bescrewed onto the case 202. For example, one of the case 202 or the cap204 can include a raised helical thread, while the other of the case 202or the cap 204 can include a helical groove to receive the raisedhelical thread. The cap 204 can be fastened to the case 202.

The cap 204 can be formed of the same or different material as the case202. The cap 204 can be designed and constructed to generate more orless drag than the case 202. In some embodiments, the cap 204 can bedesigned and constructed to generate greater drag force than the case202. In some embodiments, the cap 204 can have a shape, such as a cone,dome, hemisphere, flat, prism, pyramid, triangular pyramid, or squarepyramid. The base of the cap 204 or footprint of the cap 204 can matchor substantially match (e.g., within plus or minus 20%) a footprint ofan end of the case 202 such that the base can be connected or coupled tothe end of the case 202. The cap can be filed with a material, such asfoam or syntactic foam. Syntactic foams can include composite materialssynthesized by filling a metal, polymer, or ceramic matrix with hollowparticles such as microballoons.

The system 200 can include a second cap 228 positioned adjacent to asecond end of the case 202. For example, the second cap 228 can be at abottom end of the case 202 when the case is oriented in an uprightmanner. The second cap 228 can include, e.g., a weighted cap such as aballast. The second cap 228 can be weighted using a material (e.g., aheavy material with a density greater than water, such as greater than1000 kg/m³, 1500 kg/m³, 2000 kg/m³, 3000 kg/m³, or 4000 kg/m³) with apredetermined density in order to facilitate balancing the case in anupright manner, adjust buoyancy, drag, or other dynamic or staticparameters of the case 202. For example, the second cap 228 can includea weight to provide negative buoyancy for the system 200 (e.g.,including the cap 204, case 202, and second cap 228). The materials caninclude, e.g., gravel, sand, iron, lead, or stone. The second cap 228can be formed of one or more materials similar to that of cap 204. Thesecond cap 228 can be connected to the case 204 using one or moretechniques used to connect cap 204 to the case 202. The second cap 228can have a same or different shape than cap 202. For example, cap 204can be conical shaped, and cap 228 can be hemispherical or dome shaped.In another example, both cap 204 and cap 228 can be dome shaped, or bothcap 204 and cap 228 can be conical.

The system 200 can include a portion configured to control rotation ofthe case as the case moves through an aqueous medium. For example, aportion of the case can be configured or shaped in such a manner as toproduce or exert force, such as drag, as the case moves through water.This force can facilitate stabilizing the case or limiting rotation ofthe case as the case moves through the water. The system 200 can includeone or more fins that can be configured to control rotation of the casethrough an aqueous medium, dampen rotation, or otherwise exert force orcreate force to manipulate the dynamics of the case 202. Dampeningrotation can include or refer to reducing rotational force or rotationby 5%, 10%, 20%, 25%, 30% or more. Dampening rotation can refer to orinclude reducing the rate of rotation, or preventing a full rotation. Insome embodiments, the system 200 can include a first fin 206 extendingfrom at least one of the cap 204 or the case 202. The system 200 caninclude a second fin 208 extending from at least one of the cap 204 orthe case 202. The first fin 206 can be separated from the second fin 208by a predetermined angle 210 to control rotation, control motion, orcreate a force (e.g., drag) to be exerted on the case 202 to control adynamic or motion of the case 202 as it moves through an aqueous medium.The predetermined angle 210 can be determined based on an amount of dragto generate. The case 202 can be referred to as being phase-locked dueto the drag force exerted by the fins canceling out a rotational forceto thereby stabilize or dampen the rotation of the case.

The predetermined angle 210 can be determined based one or more of ρ, C,A; or v. For example, increasing the predetermined angle may increasethe A, the cross sectional area projected in the direction of motion,which may increase the drag force exerted by the case 202 (including theone or more fins). The predetermined angle can include an angle in therange between substantially 45 degrees to substantially 180 degrees(e.g., where substantially can refer to plus or minus 10 degrees), orbetween 70 degrees and 110 degrees. The predetermined angle can be 70degrees, 80 degrees, 90 degrees, 100 degrees or 110 degrees or withinplus or minus 10 degrees of the predetermined angle.

The fins 206 or 208 can include a material that allows the fins 206 or208 to exert force without breaking. For example, the fins 206 or 208can be made from fiberglass, ceramic, metal, iron, plastics, rubber,alloys, polymers, stone, cement, or gravel. The fins 206 can be made viaan extrusion process. The fins 206 or 208 can be made from the samematerial or different materials. The fins 206 or 208 can have apredetermined stiffness or flexibility. For example, the stiffness ofthe fins 206 and 208 can refer to the extent to which the fins resistdeformation in response to an applied force. The more flexible an objectis, the less stiff the object is. The stiffness can refer to a measureof the resistance offered by an elastic body to deformation. The finscan deform along one or more degrees of freedom. The fins 206 and 208can be flexible or rigid. For example, the fins 206 and 208 can beflexible enough such that they do not break under or otherwisecompromise structural integrity of the fin, case 202 or cap 204 whenunder force. The fins 206 can have a high stiffness (e.g., 58 N/mm to500 N/mm) medium stiffness (e.g., 40 N/mm to 58 N/mm) or low stiffnessor be flexible (e.g., less than 40 N/mm). The stiffness of the fin 206or 208 can vary from one end of the fin to another end of the fin. Forexample, an end of the fin 206 closer to the cap 204 or case 202 canhave a greater stiffness as compared to an end of the fin 206 furtherfrom the cap 204 or case 202. The stiffness of the fin from one end tothe other end can be controlled based on types of material(s) used tomake the fin, structural design of the fin, or tapering of the fin 206or 208.

The fins 206 or 208 can include any shape configured to exert a forceincluding, e.g., a triangular shape, a rectangular shape, trapezoidal,trapezium, polygon shaped, circular, elliptical, or prism shaped. Thefins can be tapered such that the fin can reduce in thickness or widthtowards one or more ends. For example, a first end of the fin 206 (e.g.,a top end of the fin or an end of the fin closer to the tip of the cap)can have a greater width than a second of the fin (e.g., a bottom end ofthe fin adjacent to the case 202). For example, the first end of the fin206 can have a width of 1 inch, 2 inch, 4 inches, 5 inches, 6 inches, 10inches, 15 inches or other dimension to facilitate stabilizing the caseor facilitate alignment. The second end of the fin 206 can have a samewidth as the first end, be wider than the first end, or be narrower thanthe first end. For example, the second end of the fin 206 can be 1 inch,2 inch, 4 inches, 5 inches, 6 inches, 10 inches, 15 inches or otherdimension to facilitate stabilizing the case or facilitate alignment. Insome embodiments, the fins can extend 3 or 4 inches from the cylindricalportion of the case 202 and form a straight edge over the conicalportion 204. The straight edge can be used to form guidance, rotationcontrol, or stabilization. The dimensions of the fins can be adjusted ormodified based on dimensions of the case 202, cap 204, the speed atwhich the case 202 moves through water, weight of the case 202, weightof the case 202 when loaded with objects, depth of the case 202 in thewater column, or a size of a notch on a capture appliance or alignmentmechanism. For example, one or more portions of the fin 206 can extendfrom the cap 202 up to 1.5 times the radius of the case 202 or cap 204.In some embodiments, the width of the fin 206 can be mechanicallyadjusted (e.g., made narrower or wider). For example, the fin can bemechanically adjusted by folding or unfolding an extension portion, orsliding in or out an extension portion.

The one or more fins (e.g., 206 or 208) can be connected to the case 202or cap 204. The case 202 or cap 204 and one or more fins can be separatecomponents that are assembled together, connected, coupled, joined orotherwise affixed adjacent to one another. The one or more fins can beconnected, coupled, joined or otherwise affixed to the case 202 or cap204 in an irremovable manner or a removable manner. For example, the oneor more fins can be fixed to the case 202 or cap 204 using one or morescrews, bolts, nuts, latches, magnets, adhesives, solder, pins, clips, atongue and groove joint, or a mechanical splice. In some embodiments,the one or more fins can be screwed onto the case 202 or cap 204. Theone or more fins can be fastened to the case 202 or cap 204.

The system 200 can include one or more runners 230 and 232. The runnercan protrude from, and extending along, a longitudinal axis of thecylindrical portion of the case 202. The cylindrical portion can referto the portion of the case 202 between the cap 204 and the ballast 228.The runner 230 or 232 can extend along the entire case 202 or a portionof the case 202 (e.g., 20% of the case, 30%, 50%, 70%, or 90%). Therunner 230 or 232 can exert force to control rotation, dampen rotation,or manipulate or control a dynamic of the case. The runner 230 or 232can further be configured to facilitate aligning an opening of the casewith an external component, such as a conveyor.

The runner 230 or 232 can include one or more material of the fin 206and be connected or coupled to the case 202. The runner 230 can beformed as part of the case 202, or coupled using one or more couplingtechnique. The runner 230 or 232 can be configured to facilitatealignment of the case 202. The runner 230 and fin 206 can be coupled orconnected to one another, be formed as a single component or structure,or be separate components.

Thus, in some embodiments, the system 200 may not include fins on thecap. The system 200 may not include a runner. The system 200 can includeone of a fin or a runner. The system 200 can include both a fin and arunner. The system 200 can include one or more fins and one or morerunners. In some embodiments, the system 200 may not control rotation ofthe case 202, or may control rotation of the case using othermechanical, powered, or unpowered techniques or in-water motion controlmechanisms.

The case 202 can include one or more openings 216 and 218. The openings216 and 218 can be configured to allow seismic data acquisition units,ocean bottom seismometers, geophones, nodes, devices or other matter topass through the case 202. Devices can enter the case 202, be inserted,deposited, placed, or otherwise provided to an internal compartment ofthe case formed by the walls of the case 202 via the one or moreopenings. Devices can exit, leave, depart, eject, be retrieved, bereceived or otherwise provided external to the case via the one or moreopenings. In some embodiments, the case includes multiple openings 216and 218. For example, a first opening 216 can be closer to the cap 204,as compared to the second opening 218. For example, a first distancebetween 220 the first opening 216 and the cap 204 can be less than asecond distance 220 between the second opening 218 and the cap 204. Thefirst distance 220 can be determined from a top of the first opening 216and a bottom of the cap 204. The first distance 220 can be determinedfrom a middle or bottom of the first opening 216 and a middle or top ofthe cap 204. The second distance 222 can be determined from a top of thesecond opening 218 and a bottom of the cap 204. The second distance 222can be determined from a middle or bottom of the second opening 218 anda middle or top of the cap 204. Distances can be measured or determinedusing any units or measures of distance including, e.g., inches, feet,meters, centimeters, etc. The second opening 218 can be closer to theballast 228 (e.g., second cap 228) as compared to the first opening 216.For example, a distance between the first opening 216 and the ballast228 can be greater than a distance between the second opening 218 andthe ballast 228. The first opening 216 can correspond to a top opening216 when the case 202 is oriented in a substantially vertical manner(e.g., an angle between a vertical axis of the cylindrical case 202 anda horizontal plane is greater than 0 degrees and less than 180 degrees).The second opening 218 can correspond to a bottom opening 218 when thecase 202 is oriented in the substantially vertical manner. In someembodiments, the opening 216 can correspond to the top opening 216 andthe opening 218 can correspond to the bottom opening 218 regardless ofthe current physical orientation of the case 202.

The one or more openings 216 and 218 can have the same dimensions,substantially similar dimensions, or different dimensions. Thedimensions can be determined based on the dimensions of objects that areto be inserted or removed from the case via the openings 216 and 218.For example, a case 202 configured to hold OBS units can be configuredwith openings that are based on the dimensions of the OBS units. Theopenings can be have a width or diameter of 4 to 50 inches, and heightof 2 to 20 inches high. The shape of the openings 216 and 218 caninclude rectangular shaped, circular, elliptical, trapezoidal,rectangular with rounded corners, polygonal, or any other shape thatfacilitates allowing objects to pass through the case.

The openings 216 and 218 can be above one another such that a verticalor longitudinal axis passes through both openings 216 and 218. Theopenings 216 and 218 can be on a same side of the case 202 or ondifferent sides or portions of the case 202. For example, opening 216can be on a first side of case 202, and opening 218 can be on a secondside of the case 202 different from the first side. The openings 216 and218 can be diagonal from one another such that a vertical or horizontalaxis that passes opening 216 does not pass through opening 218.

The system 200 can include one or more gates 224 or 226. The gates 224or 226 can cover, block or otherwise obstruct an opening of the case(e.g., obstructing the opening such that a device, object, or OBS nodecannot pass through the opening). For example, a first gate 224 cancover or block opening 216, and a second gate 226 can cover or blockopening 218. The gate 224 or 226 can be formed of any material tofacilitate blocking or covering the opening. In some embodiments, thegate 224 or 226 can be formed of one or more materials capable ofblocking or preventing device in the case from leaving the case 202. Forexample, the gate 224 can be structurally strong enough to prevent anOBS unit from falling out of the case 202 while the case 202 is inmotion, or prevent the OBS unit from sliding out from a conveyor withinthe case when the case 202 is stationary. The gate 224 or 226 caninclude a mesh gate, rope gate, metal gate, plastic gate, alloy gate,polymer-material based gate, wood gate, ceramic gate, fiberglass gate,or chain-link gate.

The gates 224 and 226 can be made of the same material or differentmaterials. For example, gate 224 can be a weaker gate as compared togate 226. Gate 224 can have less structural integrity as compared togate 226. Gate 224 can be less stiff as compared to gate 226. This maybe because gate 226 can be configured to prevent OBS units from fallingout of the bottom opening 218. Thus, gate 226 can be strong enough towithstand the force exerted by several OBS units that are held in agravity conveyor within the case 202. Gate 224 may be weaker than gate226 because gate 224 may not have to be configured to withstand theforce exerted by several OBS unit because the OBS units may not bepushing up against gate 224.

The gates 224 and 226 can open or close using one or more technique. Thegates 224 or 226 can be a sliding gate (e.g., vertical, horizontal,diagonal or along another axis of the case 202 or cylindrical portion ofthe case 202), revolving gate, hinged gate, rotate gate, swing gate,sliding gate, barrier gate, or overhead gate. The system 200 can includeone or more gate openers. The gate 224 can include a gate opener and thegate 226 can include a gate opener. The gate opener can include amechanical device configured to open and close the gate, such as ahydraulic gate opener, electromechanical gate opener, or a gate openerthat providers mechanical tension. For example, the gate can be undermechanical tension produced by a mechanical spring, coil, lever,compression spring, tension spring, flat spring, serpentine spring,cantilever spring, helical spring, leaf spring, or other elastic objectthat can store mechanical energy.

The gate 224 or 226 can include a locking mechanism, such as a latch,lever, pin, gravity latch, spring latch, turn latch, or slide bolts. Forexample, the locking mechanism can keep the gate in a closed position orclosed state. The gate can be coupled to a spring that is stretched orunder mechanical tension when the gate is closed. Releasing the lockingmechanism can allow the spring to return to equilibrium from the tensionor stretched state, thereby pulling open the gate. In some embodiments,the gate opener can powered and include a motor, rails, chains, andother devices to open and close the gate.

FIG. 2B illustrates a side view of the system 200 for acquiring seismicdata in accordance with an embodiment. FIG. 2B illustrates a perspectiveview of the case 200, cap 204, ballast 228, first fin 206, first runner230, opening 216, and opening 218. The width or diameter of the case 204or ballast 228 is 250. The diameter or width 250 can range, for example,from 3 feet to 8 feet. For example, the diameter can be 4 feet, 4.5feet, 5 feet, 5.5 feet, or 6 feet. The ballast width can be the same ordifferent from the width of the case 202 or the cap 204. For example,the ballast width can be greater than the width of the case, less thanthe width of the case, or substantially similar to the width of the case(e.g., plus or minus 10% difference). The cap 204 width can be greaterthan the width of the case, less than the width of the case, orsubstantially similar to the width of the case (e.g., plus or minus 10%difference).

The height 236 of the system 200 can refer to the height from anexternal end of the ballast 228 to the external tip of the cap 204 whenthe cap 204 and the ballast 228 are attached or adjacent to the case202. The height 236 can range, for example, from 6 feet to 20 feet. Forexample, the height 236 can be 12 feet, 12.5 feet, 13 feet, 13.5 feet,14 feet, 14.5 feet, or 15 feet.

The height 238 can correspond to the height of the case 202 without thecap 204 and the ballast 228. The height 238 can range, for example, from4 feet to 15 feet. The height 240 can correspond to the height of thecap 204. The height 240 can range, for example, from 0.5 feet to 5 feet.The height 242 can correspond to the height of the ballast 224. Theheight 242 can range, for example, from 0.5 feet to 5 feet. The height244 can correspond to the height of one or more fins 206 or 208. Thefins can have the same height or be at different heights. The height 244can range, for example, from 0.2 feet to 4 feet. The height 246 cancorrespond to the height of the one or more runners 230 and 232. Therunners can have the same height or different heights. The height 246can range, for example, from 0.2 feet to 15 feet. The height 246 of therunner 230 can be less than or equal to the height 238 of the case 202.The height 248 can correspond to the height from a bottom end of case202 to the top of the fin 206. The height 248 can range, for example,from 7 feet to 15 feet. The height 248 can be 10.5 feet.

The distance or height 220 can refer to the distance between the topopening 216 and the cap 206. The distance or height H9 can refer to thedistance between the bottom opening 218 and the cap 206. The distance220 can be less than the distance H9.

The system 200 can include one or more beacons 234. The beacon 234 caninclude or refer to a transponder. The beacon 234 can be positionedanywhere on the case that facilitates transmitting or receiving data.The beacon 234 can include a wireless transponder, such as an acoustictransponder, optical transmitter, light source, optical detector,optical receiver, magnetic transponder, or motion detector. In someembodiments, the beacon 234 can be positioned on a portion of the cap204. The beacon 234 can be positioned proximate to the first fin or thesecond fin. For example, the beacon 234 can be positioned adjacent to afin 206 or fin 208 or within 1 foot of a portion of the fin 206 or fin208. The beacon 234 can be positioned between two fins 206 and 208. Thebeacon 234 can be positioned above a fin 206 or 208 (e.g., on an end ofthe cap 204 that is further from the case 202). The beacon can bepositioned below the fin 206 or 208 (e.g., on an end of the cap 204 thatis closer to the case 202). The beacon 234 can be positioned on the case202 or ballast 228. For example, the beacon 234 can be positionedadjacent to an opening 216 or 218 or adjacent to a runner 230 or 243.

FIG. 2C illustrates a top view of the system 200 for acquiring seismicdata in accordance with an embodiment. The top view of the system 200illustrates a top perspective view of the cap 204. The top perspectiveview illustrates the fin 206 and fin 208. The fin 206 or 208 can have athickness 256. The thickness 256 can range, for example, from 0.5 inchesto 4 inches. For example, the thickness can be 1 inch, 1.5 inches, or 2inches. The thickness of a runner 230 or 232 can be the same thickness256 or a different thickness. The runner 230 can be thicker than thefin, or thinner than the fin. At least a portion of the fins 206 or 208can extend from the cap 204 by a length 254. The length 254 can range,for example, from 0.5 inches to 1 foot. For example, the length 254 canbe 1 inch, 2 inches, or 5 inches. The length 254 can correspond to theportion of the fin 206 or 208 that protrudes furthest from the cap 202.The length 254 can correspond to the length a runner 230 or 232protrudes from the case. The runner 230 or 232 can protrude more than afin 206, or less than a fin 208. The angle 210 between the fins canrange from 70 degrees to 180 degrees. The angle can be, for example, 85degrees, 90 degrees, 95 degrees, 97 degrees, 100 degrees, 105 degrees orsubstantially one of these degrees (e.g., plus or minus 20 percent). Theangle between the runners can be the same or substantially similar(e.g., plus or minus 20%) as the angle 210, or different from the angle210 (e.g., greater than plus or minus 20%).

The system 200 can include multiple beacons 234 or multiple transponders234. The beacons 234 (or transponders) can each be the same type ofbeacon, or different types of beacons. For example, a first beacon 234can be an acoustic beacon, a second beacon 234 can include a lightsource, and a third beacon 234 can include a radio frequencytransmitter. The distance between the beacons can correspond to 252,which can range, for example, from 1 foot to 3 feet. For example, thedistance between two beacons can be 2 feet.

FIG. 2D is a system for acquiring seismic data comprising a propulsionsystem, in accordance with an embodiment. The system 200 illustrated inFIG. 2D can include one or more component of system 200 illustrated inFIGS. 2A-2C. The system 200 illustrated in FIG. 2D can include one ormore steering devices 258 and one or more propulsion systems 105. Thesteering device 258 can steer or orient the case 202 as the propulsionssystem 105 generates force to move the case 202.

The propulsion system 105 can include a mechanism to generate force,such as a propeller, a thruster, a paddle, an oar, a waterwheel, a screwpropeller, a fixed pitch propeller, a variable pitch propeller, a ductedpropeller, an azimuth propeller, a water jet, a fan, or a centrifugalpump. The propulsion system 105 can include a fluid propulsion systemsuch as a pump-jet, hydrojet, or water jet that can generate a jet ofwater for propulsion. The propulsion system 105 can include a mechanicalarrangement having a ducted propeller with a nozzle, or a centrifugalpump and nozzle. The propulsion system 105 can have an intake or inlet(e.g., facing a bottom of the system 200) that allows water to passunderneath the system 200 and into the propulsion system 105. The watercan enter the pump of the propulsion system through the inlet. The waterpressure inside the inlet can be increased by the pump and forcedbackwards through a nozzle. The propulsion system 105 can include areversing bucket. With the use of a reversing bucket, reverse thrust canbe generated. The reverse thrust can facilitate slowing movement of thecase 202 as the movement of the vessel 5 slows.

The system 200 can include one or more propulsion systems 105. Thepropulsions system 105 can be integrated with, or mechanically coupledto, a portion of the case 202, first cap 204, or second cap 228. Thepropulsion system 105 can be built into a portion of the case 202, firstcap 204, or second cap 228. The propulsion system 105 can be attachedonto the portion of the case 202, first cap 204, or second cap 228 usingan attachment or coupling mechanism such as one or more screws, bolts,adhesives, grooves, latches, or pins.

The system 200 can include multiple propulsion systems 105. For example,the system 200 can include one or more propulsions systems 105 on thefirst cap 204, case 202, or second cap 228. The multiple propulsionssystems 105 can be centrally controlled or individually controlled by acontrol unit 110. The multiple propulsions systems can be independentlyactivated or synchronously activated.

The system 200 can include a propulsion system located on the second cap228. The propulsion system 105 can be located on a left end of thesecond cap 228, middle of the second cap 228, or a right end of thesecond cap 228. The propulsion system 105 can, in some embodiments, spana width of the second cap 228. The propulsion system 105 can bemechanically coupled to the second cap 228, extend off from the secondcap 228, or be integrated or built-into the second cap 228. Thepropulsions system 105 can be removably, mechanically coupled to thesecond cap 228. The propulsions system 105 can be permanently or fixedlymechanically coupled to the second cap 228. In some embodiments, thesecond cap 228 can be removably coupled to the case 202, while thepropulsion system 105 is fixedly coupled to, or integrated with, thesecond cap 228.

The second cap 228 can include two propulsion systems 105 (or twopropulsion systems 105 can be attached to the second cap 228). Forexample, a first propulsions system can be located at a first end of thecap 228, and a second propulsion system can be located at a second endof the cap 228. The two propulsion systems 105 can be separated by apredetermined angle. The predetermined angle of separation canfacilitate allowing the two propulsion systems 105 to move the system200 in a direction. For example, the predetermined angle of separationcan allow the two propulsion systems 105 to steer the case 202 byallowing a first propulsions system 105 to generate a greater forcerelative to a second propulsions system 105 on the second cap 228. Bygenerating different amounts of force, the two propulsion systems 105can steer or control a direction of movement of the system 200 or case202.

The different amounts of force generated by the two propulsion systems105 on the second cap can facilitate orienting the system 200 in adirection. For example, as an underwater vehicle or skid system 800approaches the system 200 to retrieve or load nodes 30, the twopropulsion systems 105 can facilitate orienting an opening 216 or 218 ofthe case such that the opening can align with a conveyor or arm of theunderwater vehicle or skid system 800.

The system 200 can include one or more propulsion systems 105 located ona portion of the case 105. The propulsions system 105 can be located onthe portion of the case corresponding to an opening 216 or 218. Thepropulsion system 105 can be on a portion of the case opposite thedirection of movement of the vessel 5 to allow the force generated bythe propulsion system 105 to move the case in a direction correspondingto the direction of movement of the vessel 5. The propulsion system 105can be located in between the two openings 216 and 226. The propulsionsystem 216 can be located closer to the first opening 216, or closer tothe second opening 218. The system 200 can include multiple propulsionsystems 216 located on the case 202. For example, the system 200 caninclude a first propulsion system 105 located below the opening 216 anda second propulsion system 105 located above the opening 218. The system200 can additionally include a third propulsion system 105 located inbetween the first propulsion system 105 and the second propulsion 105 onthe case 202.

In some embodiments, the propulsion system 105 may not be locatedbetween the openings 216 and 218. For example, the propulsion system 105can be located above the opening 216, or below the opening 218. Thepropulsion system 105 can be located to the left or right of theopenings 216 or 218.

The system 200 can include one or more propulsion systems 105 located onthe first cap 204. For example, the propulsion system 105 can be locatedbetween fins 206 and 208. The propulsion system 105 can be located abovefins 206 and 208. The propulsion system 105 can be located to the leftof fin 206 or the right of fin 208 (e.g., not between fins 206 and 208).The system 200 can include multiple propulsion system 105 on the cap204. The multiple propulsion systems 105 can be separated by apredetermined angle to facilitate moving the case 202 in in or moredirections.

The system 200 can include one or more steering devices 258. Thesteering device 258 can refer to a steering apparatus 258 that includesmultiple components. The steering device 258 can receive instructionsfrom the propulsion system 105 or a control unit 110. The steeringdevice 258 can include, for example, a rudder. In some embodiments, thesteering device 258 can include fins 206 or 208, or runners 230 or 232.For example, the steering device 258 can include an actuator,spring-mechanism, or hinge that can pivot, rotate or change theorientation of one or more of the fin 206, fin 208, runner 230, orrunner 232 to steer the system 200.

The steering device 258 can use the propulsion system 105, or componentthereof, to steer the system 200. For example, the propulsion system 105can include a nozzle and pump-jets. The nozzle can provide the steeringof the pump-jets. Plates or rudders can be attached to the nozzle inorder to redirect the water flow from one side to another side (e.g.,port and starboard; right and left). The steering device 258 canfunction similar to air thrust vectoring to provide a pumpjet-poweredsystem 200 with increased agility in the aqueous medium.

FIG. 2E is a side perspective view of a system for acquiring seismicdata comprising a propulsion system, in accordance with an embodiment.The propulsion system 105 can include a front end 260 and a back end262. The back end 262 can include an inlet, and the front end 260 caninclude an outlet. Water can go into the inlet 262 and flow out of theoutlet 260. The propulsion system 105 can include an engine or a pumpthat receives water via the inlet 262, and pumps water out via outlet260 to form a jet stream that can generate force to move the system 200.

The system 200 can include one or more pairs of inlets 262 and outlets260. The pair of inlet 262 and outlet 260 can be located on the cap 228,cap 204, or case 202. The inlet 262 can be connected to the outlet 260by a tube or pipe. An engine can be located in between the inlet 262 andoutlet 260 to generate force to draw water into the inlet and push waterout of the outlet to thrust the case 202 or system 200 in a direction.

FIG. 3 illustrates a conveyor provided for the system for acquiringseismic data, in accordance with an embodiment. The transfer device 100can include one or more component, feature or function of system 300.The conveyor system 300 can include a conveyor 302 and support structure226. The conveyor 302 can be provided within case 202 as part of system200 depicted in FIG. 2A. For example, system 200 can include conveyor302 and support structure 226. The conveyor 302 can have, include, orconstructed as a helix structure. The conveyor 302 can be providedwithin the case 202 to receive objects or devices (e.g., OBS units) unitat a first end 304 of the conveyer and transport the OBS unit via thehelix structure 302 to a second end 306 of the conveyor to provide theOBS unit on the seabed to acquire the seismic data. A first distance 312between the first end 304 of the conveyor 302 and the cap 204 can beless than a second distance 318 between the second end 306 of theconveyor and the cap 204. The first end 306 of the conveyor cancorrespond to opening 216, and the second end 304 of the conveyor 302can correspond to opening 218. For example, the opening 216 can be inalignment with the first end 306 of the conveyor such that when anobject passes through the opening 216, the object can come into contactor be positioned on or near the first end 216 of the conveyor. Theconveyor 302 can hold 5 to 20 OBS nodes 30 or more.

The conveyor 302 can have a helix structure. A helix structure can referto a type of smooth space curve that has a property that a tangent lineat any point makes a constant, including substantially constant (e.g.,plus or minus 10 degrees) angle with a fixed line corresponding to anaxis. The helix structure can facilitate load balancing nodes around acenter or center column of the case 202. The helix structure can includea left-handed helix or a right-handed helix. The conveyor 302 caninclude helix structures such as coil springs, spiral slide, spiralramps, or helicoid. The conveyor 302 can be a filled in helix or a helixcoil. For example, the conveyor 302 can include one or more parallelrails forming a helix structure that guide OBS units from the first endto the second end. The conveyor 302 can include the helix structure witha center of the helix structure extending along an axis of thecylindrical portion of the case 202. The axis of the cylindrical portionof case 202 can refer to a central axis of the cylinder that travelslongitudinally or vertically through the cylinder 202 at a center pointof the cylinder.

The conveyor 302 can have or be constructed with a constant spiral pitch(e.g., substantially constant spiral pitch that varies less than plus orminus 20%). The spiral pitch of the helix can correspond to the width ofone complete helix turn, measured parallel to the axis of the helix. Theconveyor 302 can have a spiral pitch in the range of, for example, 1foot to 3 feet. For example, the spiral pitch can be 24 inches, orcorrespond to the distance 314. In some embodiments, the distance 314,316 and 310 can be the same or substantially similar (e.g., plus orminus 10%). In some embodiments, the distance 314, 316 and 310 candiffer (e.g., vary greater than 10%). In some embodiments, the spiralpitch may be greater at the top of the conveyor or at the first end 304to facilitate moving OBS units from the first end 304 towards the secondend 306; and the spiral pitch may be less towards the second end 306. Insome embodiments, the spiral pitch may be greater at the second end 306as compared to the first end 304 to facilitate removing OBS units fromthe second end 306.

The conveyor 302 can be made from or composed of one or more materialsthat are suitable for use in an aqueous environment. For example, theconveyor 302 can include one or more of plastics, metals, fiberglass,PolyVinyl Chloride, steel, iron, composite materials, steel-reinforcedcement, or aluminum. The material used to make the conveyor 302 can beselected based on a coefficient of friction of the material. Forexample, the conveyor 302 can include an unpowered gravity conveyor,such as a slide. The coefficient of friction of the conveyor 302 canallow OBS units to slide down the conveyor from the first end 304 to thesecond 306 without the use of power.

The conveyor 302 can include or be formed or constructed from a singleportion or multiple portions. For example, the conveyor 302 can be madefrom multiple portions such as ⅕ turn portions, ¼ turn portions, ⅓ turnportions, ½ turn portions or full turn portions. For example, theconveyor 302 can be formed of 8 quarter turn portions to create a twofull turn conveyor 302. The multiple portions can be coupled, connected,affixed, or otherwise positioned adjacent to one another such at objectscan pass from one portions to another portions. The multiple portionscan be connected using adhesive, solder, molding, latches, screws, pins,tongue and groove joints, sockets or other coupling technique. Theportions can be removable or irremovable coupled.

In some embodiments, the conveyor 302 can include rollers. The rollerscan be mechanical rollers that are powered or unpowered. The rollers canfacilitate moving, transporting or otherwise conveying OBS units ordevices from the first end 304 towards the second end 306. In someembodiments, the conveyor 302 can include a belt, pneumatic conveyor,vibrating conveyor, flexible conveyor, lubricated conveyor, gravityskatewheel conveyor, wire mesh conveyor, plastic belt conveyor, chainconveyor, electric track vehicle conveyor, spiral conveyor, screwconveyor, or a drag conveyor. For example, the conveyor 302 can belubricated with oil or another lubricant that can reduce friction andallow devices to travel from the first end 304 to the second end 306. Insome embodiments, the conveyor 302 can include a belt that can bepowered or driven to transport OBS units from the first end 304 to thesecond end 306. In some embodiments, the conveyor 302 can be powered totransport units from the second end 306 to the first end 304.

The system 200 can include a support structure 226. The supportstructure 226 can be configured or constructed to support the conveyor302. In some embodiments, the support structure 226 includes a pole at acenter of the helix structure. The pole 226 can be coupled, connected orotherwise attached to the conveyor 302 to support the conveyor at 308,for example. For example, the pole 226 can include grooves in which aportion of the conveyor 302 can be inserted to couple or connect theconveyor 302 to the pole 226. The pole 226 can be soldered to theconveyor 302, or attached to the conveyor using adhesives or magnetism.An end of the pole 226 can be coupled, attached, or otherwise adjacentto a bottom of the case 202, the ballast 228 or the cap 204.

In some embodiments, the case 202 can provide the support structure 226for the conveyor 302. For example, an internal wall of the case 202 caninclude grooves in which a portion of the conveyor 302 can be insertedto provide support for the conveyor 302. In some embodiments, theconveyor 302 can support itself.

FIG. 4A is a system for acquiring seismic data in accordance with anembodiment. The transfer device 100 can include one or more component,feature or function of system 400. The system 400 can include one ormore component, feature, material or function of system 200. Forexample, the system 400 can include multiple conveyors, more than twoopenings, or a larger case. The system 400 includes a case 402 that canbe similar to case 302. The system 400 can include a cap 416 adjacent toan end of the case 402. The cap 416 can be similar to cap 204. Thesystem 400 can include one or more runners 404 that can be similar torunner 230.

The system 400 can include one or more conveyors. The one or moreconveyors can overlap, be staggered, be subsequent to one another, beadjacent to one another or otherwise be positioned or configured withincase 402. For example, a first conveyor 502 and a second conveyor 504can form a double helix structure. The conveyors 502 and 504 can besimilar to, or include, or more component, feature, material or functionas conveyor 302. The first conveyor 502 and the second conveyor 504 canboth be right-handed helixes, left-handed helixes, or one can be aleft-handed helix structure while the other is a right handed helixstructure.

The system can include one or more openings 406, 408, 410 and 412. Forexample, a first opening 406 can correspond to a first end 418 of afirst conveyor 502 provided within case 402; a second opening 410 cancorrespond to a second end 422 of the first conveyor 502 provided withinthe case 402; a third opening 408 can correspond to a first end 420 of asecond conveyor 504 provided within the case 402; and a fourth opening412 can correspond to a second end 424 of the second conveyor 504provided within the case 402.

In some embodiments, the openings 406, 408, 410, and 412 can bevertically aligned. In some embodiments, the openings 406, 408, 410, and412 may not be vertically aligned on the surface of the case 402. Forexample, the openings 406, 408, 410, and 412 can be on different sidesof the case, overlap, or be staggered. In some embodiments, opening 406and 408 can be a single opening, or opening 410 and opening 412 can be asingle opening. The openings can be at different circumferentialpositions (such as 0 degrees and 180 degrees). The opening 406 can beabove opening 408, or the opening 406 can be at the same level asopening 408. For example, a distance between a bottom portion of opening408 and the cap can be equal to a distance between a bottom portion ofopening 406 and the cap. The opening 410 can be above opening 412, orthe opening 410 can be at the same level as opening 412. For example, adistance between a bottom portion of opening 410 and the cap can beequal to a distance between a bottom portion of opening 412 and the cap.

In some embodiments, the system 400 may not include fins on the cap 416.The system 400 may not include runner 404. The system 400 can includeone of a fin or a runner. The system can include both a fin and arunner. The system 400 can include one or more fins and one or morerunners.

FIG. 4B is a side perspective view of a system for acquiring seismicdata, in accordance with an embodiment. The system 400 can have thefollowing dimensions: a diameter or width 428 of the ballast 414 or case402 can range, for example, from 3 feet to 6 feet. The diameter or width428 can be 4 feet, 4.5 feet, or 5 feet, for example. The height 436 cancorrespond to the height of the system 400 with the cap 416, case 402and the ballast 414. The height 436 can range from 10 feet to 20 feet,for example. The height 436 can be 12 feet, 13 feet, 14 feet, 15 feet,or 16 feet. The height 432 can correspond to a height of the runner 404.The height 432 can range from 6 feet to 15 feet, for example. The height432 can be 8 feet, 9 feet, or 10 feet, for example. The height 430 cancorrespond to a height of the ballast 414, and can range, for example,from 1 foot to 4 feet. The height 430 can be 1 feet, 2 feet, or 3 feet,for example. The height H13 can correspond to a height of the case 402.The height H13 can range from 6 feet to 15 feet, for example. The heightH13 can be 8 feet, 9 feet, or 10 feet, for example. The height 426 cancorrespond to the height of the cap 416. The height 426 of the cap canrange from 1 foot to 5 feet, for example. One or more dimensions of thesystem 400 can be greater than a corresponding dimension in system 200because system 400 can include two or more conveyors provided within thecase 402, as compared to a single conveyor provided in case 202 ofsystem 200. The system 400 can include one or more fins and one or morebeacons 234.

A distance 434 between opening 406 and cap 416 can be less than adistance 438 between opening 408 and cap 416. The distance 438 can beless than a distance 440 between opening 410 and the cap 416. Thedistance 440 can be less than a distance 442 between the opening 412 andthe cap 416. In some embodiments, the distance 434 and the distance 438can be the same. In some embodiments, distance 440 and 442 can be thesame.

FIG. 4C is a top perspective view of a system for acquiring seismicdata, in accordance with an embodiment. As illustrated in the top view,a predetermined angle 450 between fins or runners can range, forexample, from 50 degrees to 110 degrees. For example, the predeterminedangle between the fins or runners can be 60 degrees, 70 degrees, 77degrees, or 85 degrees. The predetermined angle 450 can be less than thepredetermined angle 210 because system 400 may have a larger case whichmay have a larger cross-section area that produces greater drag force,and thus may generate drag force to dampen rotation with an angle 450that is less than angle 210.

The thickness 448 of a fin or runner can be the same or different fromthickness 256. For example, thickness 448 can be 2 inches, for example.The length 446 can correspond to the extent the fin or runner protrudesfrom cap 416 or case 402, and can be the same or similar to length 254.For example, 446 can be 3.5 inches. The length 444 can correspond to alength or distance between two beacons 234. The length 444 can rangefrom 0.5 feet to 2 feet or the diameter of the case 402. For example,the length 444 can be 1 foot.

FIG. 5 illustrates multiple conveyors provided for the system foracquiring seismic data, in accordance with an embodiment. The conveyorsystem 500 can include a first conveyor 502, a second conveyor 504, anda support structure 506. The conveyor system 500 can include more thantwo conveyors and up to, for example, 3, 4, 5, 6, or more conveyors. Afirst conveyor 502 and a second conveyor 504 can be provided within case402. The multiple conveyors 502 and 504 can include one or morecomponent, function, feature of conveyor 302. The conveyors 502 and 504can have the same or similar dimensions as conveyor 302, have largerdimensions or smaller dimensions. A support structure 506 can beprovided within the case 402. The support structure 506 can be the sameas or include one or more function, material, or feature as supportstructure 226.

The one or more conveyors 502 and 504 can have the same or similarspiral pitch. The spiral pitch can be similar to spiral pitch ofconveyor 302, or greater than the spiral pitch of conveyor 302. Forexample, the spiral pitch of conveyors 502 and 504 can be 20 inches, 24inches, 30 inches, 36 inches, 40 inches or greater. The spiral pitch ofconveyor 502 can be D8. The spiral pitch of conveyor 504 can be 508. Thedistance between conveyor 502 and 504 can be 510. The distance betweenthe conveyors 510 can be sufficient to allow an OBS node to pass throughthe conveyor. For example, the distance 510 can be greater than a heightof the OBS node, such as 5 inches, 10 inches, 15 inches, or 24 inches.The distance 512 can refer to a distance between a first turn ofconveyor 504 and a second turn of conveyor 502, where conveyor 502 is atop conveyor and conveyor 504 is a bottom conveyor. The distance 512 canbe greater than distance 510.

FIG. 6A illustrates a system to transfer units to or from a case inaccordance with an embodiment. The system 600 can be configured orconstructed to use a conveyor 616 to load OBS nodes 30 into a transfersystem 200 via opening 216, or remove or receive nodes 30 from transfersystem 200 via a second opening 218. The transfer system 200 can includeor refer to system 200, 300, 400 or 500. A crane 614 (e.g., crane 25A)can support or hold transfer system 200 in a vertical position orsubstantially vertical position via coupling mechanism 622. A receptacleor base 608 can support the transfer system 200. The conveyor 616 can bepositioned on an elevator 618 to raise or lower the conveyor 616 with anopening 216 or 218 of the transfer system 200. In some embodiments, thesystem 600 can be used in a marine environment on a vessel 620.

The crane 614 can be configured, calibrated and constructed to supporttransfer system 200, raise transfer system 200, lower transfer system200 into an aqueous medium, and maintain the case in the aqueous medium.The crane 614 can include a winch configured to provide heavecompensation. For example, the winch speed can range from 0 miles perhour (mph) to 7 mph. The heave compensation can range from 1 m/s² to 3m/s². In some embodiments, the winch speed can be 4.5 mph (such asapproximately 4.5 mph with a variation of plus or minus 1 mph) and theheave compensation can be 1.8 m/s² (such as approximately 1.8 m/s² witha variation of plus or minus 0.5 m/s²).

The crane 614 can be configured to carry a load of at least 1000 kg. Thecrane 614 can be configured to carry a payload of 1500 kg at 3000meters. The crane 614 can include an electric motor, such as a 250kW-440 v/60 Hz motor. The crane 614 can be configured to lower thetransfer system 200 to an ocean bottom, ocean seabed, or ocean floor.The crane 614 can be configured for mid-water docking between thetransfer system 200 and an underwater vehicle. For example, a mid-waterposition in the water column can include or refer to a location 50 to1000 meters above a seabed, and can vary based on a flatness of theseabed so as not to damage the case 202. The crane 614 can provide heavecompensation to facilitate the mid-water docking.

The crane 614 can include a coupling mechanism 622 configured andconstructed to hold a portion of the transfer system 200. The couplingmechanism 622 can include a suction mechanism, alignment notches, or acable connected to the transfer system 200 and the crane 614.

The transfer system 200 can include one or more component, feature,function or material of system 200 or system 400, including, forexample, case 202, cap 204, ballast 228, one or more conveyors 302,support structure 226, one or more fins 206 and 208, or one or morerunners 230 and 232. The transfer system 200 can include a case 202(e.g., case 202 or 402) with one or more openings 216 or 218. A cap 204can be adjacent to the case 202. The transfer system 200 can include oneor more first conveyors (e.g., conveyor 302, 502, or 504) providedwithin the case 202. The transfer system 200 can include one or morefins 206 and one or more runners.

The system 600 can include one or more second conveyors 616 external tothe case 202. The second or external conveyors 616 can be configured andconstructed to deposit or transfer nodes into case 202, or receive orretrieve nodes from case 202. The external conveyor 616 can includerollers, a belt, pneumatic conveyor, vibrating conveyor, flexibleconveyor, lubricated conveyor, gravity skatewheel conveyor, wire meshconveyor, plastic belt conveyor, chain conveyor, electric track vehicleconveyor, spiral conveyor, screw conveyor, or a drag conveyor. Theexternal conveyor 616 can open or close a gate (e.g., gates 224 or 226)that close or obstruct an opening 216 or 218. For example, the externalconveyor 616 can include an arm or lever configured to open or activatethe gate on the case 202. The external conveyor 616 can open the gate toload or unload nodes 30, and close the gate after loading or unloadingthe nodes 30.

The conveyor 616 can include or be placed on an elevator 618. Theelevator 618 can be configured to raise or lower the external conveyor616 to align an end of the external conveyor 616 with opening 216 or218. The external conveyor 616 aligned with an opening of the case 202can turn on, drive, or otherwise initiate conveyance to load or unloadunits 30 into or out of the case 202. For example, the elevator 618configured to position the second conveyor to align the second conveyorwith the first opening. The elevator 618 can include a tractionelevator, hydraulic elevator, lift, mechanical lift, electromechanicallift, hydraulic lift, or manual lift. For example, the lift can includea jack or mechanical jack configured with a screw thread for lifting theconveyor 616.

The conveyor 616 can raise or lower to align with multiple openings ofthe case 202 to load nodes 30 into the case 202. For example, thetransfer system 200 can include multiple conveyors in a double helixstructure. The external conveyor 616 can align with a first openingcorresponding to a first internal conveyor provided within the case 202,and transfer a first set of nodes onto the first internal conveyor. Theexternal conveyor 616 can then align with a second opening correspondingto a second internal conveyor provided within the case 202, and transfera second set of nodes onto the second internal conveyor. The externalconveyor 616 can be a powered conveyor. The internal conveyors can beunpowered.

The system 600 can include a base 608. The base 608 can include asupport arm 624. The support arm 624 can at least partially wrap aroundthe case 202 to support the case 202 in a substantially verticalposition (e.g., plus or minus 20 degrees from vertical). The base 608and support arm 624 can be used to support the transfer system 200 onthe vessel 620. In some embodiments, the base 608 or support arm 624 cansupport the transfer system 200 on a seabed. For example, the case 202,or bottom cap or ballast of the transfer system 200 can be at leastpartially inserted into the base 608, coupled to base 608, attached tobase 608, or otherwise removably or irremovably connected to base 608.The crane 614 can lower the transfer system 200 along with base 608 andsupport arm 624 to through the aqueous medium to the seabed, and placethe base 608 in contact with the seabed such that the base 608 isattached, in contact with, placed on or otherwise connected to theseabed. The base 608 can be configured to support the transfer system200 in a substantially vertical manner on the seabed.

FIG. 6B illustrates a system to transfer units to or from a case inaccordance with an embodiment. The system 601 illustrates the elevator618 raising the external conveyor 616 to align an end of the externalconveyor 616 with an opening 216 of the case 202. The external conveyor616 can be operational to transfer, move, or otherwise provide one ormore nodes 30 to the internal conveyor within the case 202. In thisexample, the elevator 618 includes a mechanical jack elevator 618.

FIG. 7 illustrates a system to transfer units to or from a seabed inaccordance with an embodiment. The system 700 can include one or moresystem, component, element, feature or function of FIGS. 1-6B. Thesystem 700 can include the transfer system 200 coupled to a crane 614via a coupling mechanism 622 and a cable 702. The cable 702 can includeany type of cable capable of supporting or carrying transfer system 200when the transfer system is loaded with one or more nodes 30. Forexample, cable 702 can include or correspond to cable 46A or cable 44A.The cable 702 can be coupled to the crane 614 (e.g., winch) and thetransfer system 200 (e.g., via a cap of the transfer system 200). Thecrane can be configured to raise, lower, or support the case via thecable. For example, the crane 614 can include a winch conferred to rollout the cable 702 to lower the transfer system 200 into an aqueousmedium, lower the transfer system 200 onto a seabed, lower the transfersystem 200 into a water column, maintain the transfer system 200 at alevel in the aqueous medium that is below the surface of the water andabove the seabed.

The crane 614 can lower the transfer system 200 into the aqueous systemsuch that the fins 206 of the transfer system 200 create force as thetransfer system 200 moves through the aqueous medium to dampen rotationof the case. For example, the crane 200 can orient the transfer system200 in the aqueous medium such that the fins 206 extend in a directionopposite the direction of motion. The vessel 620 can move in a firstdirection, while crane 614 can tow the transfer system 200 behind thevessel 620. The fins 206 can face a second direction that is oppositethe first direction in which the vessel moves. In some embodiments, thecrane 614 lowers the transfer system 200 into the aqueous medium, andthe transfer system 200 automatically orients itself such that the fins206 extend in the second direction. For example, the fins 206 can createa drag force that control rotation of the transfer system 200 to rotatethe transfer system 200 to a predetermined orientation relative tomotion of the vessel 620, and then dampen, minimize, or stabilizerotation such that the transfer system 200 maintains the predeterminedorientation relative to motion of the vessel 620.

FIG. 8A illustrates a skid system to acquire seismic data from a seabedin accordance with an embodiment. The system 800 can include a frame 802or housing 802 containing a conveyor 804 that supports or holds one ormore nodes 30. The system can include a storage compartment 40. Thesystem 800 can include a capture appliance 820 configured, constructedand operational to capture or hold a case (e.g., case 202 or 402) ortransfer system (e.g., 200, 400, or 200) that can store one or morenodes 30. The capture appliance 820 can include one or more arms 806,one or more notches 808, one or more pin holes 810, and an actuator 812that can open or close the one or more arms 806. The system 800 caninclude a ramp 816 that can deploy the nodes 30 on the seabed orotherwise connect or place the nodes 30 on the seabed. The system 800can include a gate 818 that can obstruct or prevent the nodes 30 frominadvertently being deployed onto the seabed. One or more component,function or feature of system 800 can be operated autonomously ormanually by an operator. For example, an operator on vessel 820 cancommunicate with a component of system 800 and instruct system 800 toperform a function.

The system 800 can include a frame 802, housing 802 or skid structure802. The housing 802 can include a frame 802 or skid structure 802. Thehousing 802 or skid structure 802 can support or elevate the conveyor804, for example, on or above the seabed. The housing 802 can bedesigned and constructed to be in contact with the seabed. The housing802 can include a frame structure, solid structure, or porous structure.In some embodiments, the housing 802 can include a continuous, solidhousing. The housing 802 can include one or more materials that aresimilar or different to the materials used in the case. The materialscan include, e.g., plastics, metals, alloys, lead, iron, or cement. Insome embodiments, the housing 802 can be ballasted or weighted. Thehousing 802 can contain nodes 30 such that the nodes 30 can enter andexit the housing through an opening at an end of conveyor 804.

The system can include a conveyor 804 that supports or holds one or morenodes 30. The conveyor 804 can be provided within housing 802. Thehousing 802 can hold or support conveyor 804. The conveyor 804 can bemechanically coupled to the housing 802, or be in contact with thehousing 802. The conveyor 804 can include a powered conveyor. Theconveyor 804 can include rollers, a belt, pneumatic conveyor, vibratingconveyor, flexible conveyor, lubricated conveyor, gravity skatewheelconveyor, wire mesh conveyor, plastic belt conveyor, chain conveyor,electric track vehicle conveyor, spiral conveyor, screw conveyor, or adrag conveyor. The conveyor 804 can include a first end 822 and a secondend 824. The first end 822 can be closer to the capture appliance 820than the second end 824. The second end 824 can be closer to the ramp816 than the first end 822. The first end 822 and second end 824 can beon opposite ends of the conveyor 804. The first end 822 can receivenodes 30 from a case held by capture appliance 820. The first end 822can provide nodes to the case held by the capture appliance 820. Thesecond end 824 can provide nodes to the ramp 816 for deployment on theseabed. The second end 824 can receive nodes from the seabed. Theconveyor 804 can be operated in a forward motion or a reverse motion todirect nodes 30 towards the first end 822 or towards the second end 824.

The system 800 can include a capture appliance 820 configured,constructed and operational to capture or hold a case (e.g., case 202 or402) or transfer system (e.g., 200, 400, or 200) that can store one ormore nodes 30. The capture appliance 820 can include one or more arms806, one or more notches 808, one or more pin holes 810, and an actuator812 that can open or close the one or more arms 806. The actuator 812can open the arms 806 such that the case 202 can be released from thecapture appliance 820. Opening the arms 806 can include or referdisengaging the arms 806, disengaging the case 202, releasing the arms,releasing the case 202, separating the arms 806, or removing the arms806 from the case 202. For example, the actuator 812 can open the armsfully or 100% or partially (e.g., 80%, 70%, 60%, 50%, 30%, 10%). Theactuator 812 can close the arms 806 to capture or hold the case 202.Closing the arms 806 can include or refer to engaging the arms 806,engaging the case 202, grasping the arms 806, grasping the case 202,putting the arms 806 in a holding position, capturing the case 202, ormoving the arms 806 into a position to hold the case 202. For example,the actuator 812 can fully close the arms 806 (e.g., 100% closed) orpartially close the arms (e.g., 80%, 70%, 60%, 50%, 30%, 10%). The oneor more arms 806 can include radial arms, robotic arms, circular arms, alever, or a clamp. The arms 806 can include or be made from, forexample, one or materials used to make the case 202, or one or moredifferent materials.

In some embodiments, the capture appliance 820 includes a single arm 806that can extend around a case holding nodes 30 and hold the case. Insome embodiments, the capture appliance 820 includes two arms 806 thateach partially extend around the case in order to securely hold thecase. Securely holding the case can include holding the case in arelatively fixed position such that an opening of the case is inalignment with conveyor 804 and nodes can either be loaded or unloadedto or from the conveyor 804 and the case.

The capture appliance 820 can include an actuator 812 that can open orclose the one or more arms 806. The actuator 812 can include a hydraulicactuator, pneumatic actuator, electric actuator, or mechanical actuator.The actuator 812 can be coupled to a lever, pulley system or hinge thatcan move the one or more arms 806 from an open position to a closedposition. In some embodiments, the actuator 812 can include a springmechanism that defaults to an open position. By having a mechanicaltension system that defaults to an open position, should there be anerror or failure in system 800 (e.g., due to power failure,communication failure, component failure), the arms will return to thedefault position of open, and the case can be released from the arms 806and allowed to return to the vessel 820. For example, responsive topower failure, locking pins on the capture appliance or arms can springback and the case 202 can be pulled by the crane up and out of theclosed arms for separation.

The capture appliance 820 can open or close both arms 806 at the sametime, at substantially the same time or at different times. The captureappliance 820 can include a single actuator that controls both arms 806so their open or close state is synchronized. The capture appliance 820can include a first actuator for the first arm, and a second actuatorfor the second arm. The first and second actuators can be operated orcontrolled to synchronize the opening or closing of the arms. Uponclosing the arms, the capture appliance 820 can engage a lockingmechanism such as pins or a latch to keep the arms in a closed positionaround the case 202.

The capture appliance 820 can include an alignment mechanism 808. Thealignment mechanism 808 can hold or direct the case to a predeterminedorientation, such as an orientation in which an opening of the case isin alignment (e.g., substantial alignment) with the first end 822 of theconveyor in order to load or unload nodes 30 to or from the case from orto the conveyor. The alignment mechanism 808 can include, for example,one or more notches, fins, runners, protrusions, knobs, stoppers,detents, or buttons. The alignment mechanism 808 can be mechanical,powered, or unpowered. For example, the alignment mechanism 808 can begravity-driven.

In some embodiments, the alignment mechanism 808 includes one or morenotches 808. The notches 808 can be used to align an opening of a casewith a first end 822 of the conveyor 822. For example, the notches 808can receive a protrusion from a case. The protrusion can be positionedon the case such that when the protrusion is in alignment with the notch808, an opening of the case is in alignment with the first end of theconveyor 822. The notch 808 can include an indent, inversion, or aconcave portion. The notch 808 can include a tapered notch, circularnotch, hemispherical notch, rectangular notch, triangular notch,trapezoidal notch or a stepped notch. For example, a tapered notch canbe wider at the entrance of the notch and narrower at an in internalportion of the notch. In some embodiments, the alignment mechanism 808can include the protrusion on the capture appliance 820, while the notchis on the case.

The alignment mechanism 808 can include a single notch 808 or multiplenotches 808. The alignment mechanism 808 can include acoustic receivers,optical detectors, light sensors, transmitters, or other transducersthat can receive or transmit signals from or to the case to identify alocation or orientation of the case.

In some embodiments, the alignment mechanism 808 can include a firstretaining ring on the case 202. The ring can be installed at a downwardangle that points to an opening of the case opening. The captureappliance can include a second angled ring configured to mate with thefirst angled ring on the case. The first and second rings can beconfigured and angled such that gravity can facilitate aligning a bottompoint of the case with the receiving end of the capture appliance orconveyor external to the case. For example, a base of the case can havea conical shape with the titled ring or a ball-bearing racewayencircling the case. The conical or cone base can be lowered into thecapture appliance. As the conical base slides into the second ring ofthe capture appliance, the base can engage with the capture applianceand orient by gravity. For example, the base can be ballasted such thatthe weight at a lower edge of a tilted ring can cause the case to orientand come into alignment.

In some embodiments, the alignment mechanism 808 can include an actuatoror motor to move the ring to align an opening with the conveyor. Thering can move via ball-bearings, rollers, gears, a belt or chain. Insome embodiments, the alignment mechanism 808 can include rotating thecase until it locks into alignment via a protrusion, latch, clamp orother stopper. In some embodiments, the alignment mechanism 808 caninclude a carousel that rotates the case into alignment, where alignmentcan include or refer to aligning an opening of the case with a conveyorexternal to the case.

The capture appliance 820 can include one or more pin holes 810. The pinholes 810 can receive pins or protrusions from the case when the captureappliance 820 holds the case. The pin holes 810 can capture or hold thecase in a stable manner such that the case does not substantially move(e.g., plus or minus 1″ vertical, horizontal or rotational movement).

The system 800 can include a deployment appliance 816, such as a ramp816 that can deploy the nodes 30 on the seabed or otherwise connect orplace the nodes 30 on the seabed. The ramp 816 can be positioned at thesecond end of the conveyor. In some embodiments, the ramp 816 can be anunpowered gravity ramp, and the conveyor 824 can directed OBS nodes 30towards the ramp 816 so the nodes slide down the ramp and contact theseabed. The length of the ramp 816 can range from 1 foot to 10 feet. Theangle of decent of the ramp 816 can range from 30 degrees to 70 degrees.

The system 800 can include one or more deployment appliances 816 ordifferent types of deployment appliances 816. For example, thedeployment appliance 816 can include a staircase, an escalator, curvedslide, robotic arm, conveyor, pulley system, or an arm with a suctioncup to place nodes 30 on the seabed.

The system 800 can include a first gate 814 at the first end of theconveyor, and a second gate 818 at the second end of the conveyor. Thegates 814 and 818 can obstruct or prevent the nodes 30 frominadvertently being deployed onto the seabed or falling into a case. Thegates 814 and 818 can be similar to, or include one or more component orfeature of, a gate on the case such as gate 224. The gate 818 canvertically move up or down to open and close. The gates 814 and 818 canswing open and closed along a rotation point of the gate 814 and 818.The gates 814 and 818 can open sideways. The gates 814 and 818 caninclude or be operated by a gate opener, such as an electric gateopener, mechanical gate opener, hydraulic gate opener, or pneumatic gateopener. The gate 814 at the first end 822 of the conveyor 804 can beconfigured, constructed and operational to open a gate of the casecaptured by the capture appliance 820.

FIG. 8B illustrates a different perspective view of the skid system 800to acquire seismic data from a seabed in accordance with an embodiment.In this perspective view, the capture appliance 820 and arms 806 thereofare in the open positioned. In some embodiments, the open position cancorrespond to the default position. The first gate 814 can be in theclosed position to obstruct or prevent nodes 30 from falling or passingthrough or past the first end 822 of the conveyor 804.

FIG. 8C illustrates the skid system 800 to acquire seismic data from aseabed in accordance with an embodiment. The skid or frame 802 can havea width 852 in the range of 4 feet to 8 feet, for example. For example,the skid 802 can have a width 852 of 4 feet, 5 feet, 6 feet, 7 feet, or8 feet. The skid structure 802 can have a height 856 in the range of 1.5feet to 4 feet, for example. The height 856 of the skid structure can beset based on a height of the nodes 30, a number of levels of conveyorsor nodes contained in the skid structure 802, or the distance above theseabed the skid 802 is to support the conveyor. The height 856 caninclude, for example, 2 feet, 2.5 feet, 3 feet, or 4 feet. The skidstructure 802 can have a length 858 in the range of 5 feet to 15 feet,for example. The length 858 of the skid structure can include, forexample, 6 feet, 7 feet, 9.5 feet, 10 feet, or 11 feet. The length 858of the skid structure can be set based on a number of nodes 30 to besupported on the conveyor 804. For example, the length 858 of the skidstructure can be set to accommodate three nodes, four nodes, five nodes,6 nodes, 7, nodes, or 10 nodes. The conveyor 804 can have a length 860in the range of 7 feet to 15 feet, for example. The length 860 of theconveyor can be less than, the same as, or greater than the length 858of the skid structure. For example, the length 860 of the skid structurecan be 13 feet 10 inches, while the length 858 of the skid structure canbe 9 feet 8 inches. The conveyor 804 can, thus, extend beyond the skidstructure at the first end 822 to facilitate receiving nodes 30 from acase held by the capture appliance 820.

The deployment appliance 816 can have a width 854 in the range of 1 footto 3 feet, for example. The width of the deployment appliance 816 can beset based on a width of the nodes 30 or other devices deployed via thedeployment appliance 816. For example, the width 854 can be 2 feet, 2.5feet, or 3 feet.

FIGS. 9-13 illustrate a system to acquire seismic data from a seabed.FIGS. 9-13 illustrate a system including a vehicle and case, where thevehicle is configured to capture the case and release the case. System900 can include a vehicle 902. The vehicle 902 can include, for example,a remotely operated vehicle, autonomously operated vehicle, robot,manually operated vehicle, machine, or submarine. The vehicle 902 caninclude one or more engine 906, such as a propeller, thruster, motor, orother mechanism to navigate through the aqueous medium (e.g., move up,down, left, right, diagonally, or rotate about an axis of the vehicle904).

The vehicle 902 can include the skid system 800 depicted in FIG. 8A. Theskid system 800 can be coupled or connected to a portion of the vehicle902. In some embodiments, the skid system 800 can be adjacent to aportion of the vehicle 902. In some embodiments, the skid system 800 canbe contained within the vehicle 902. The skid system 800 can beremovably or irremovably connected to the vehicle 902. The vehicle 902and the skid system 800 can be communicatively connected. For example,the vehicle 902 can have access to power. The vehicle 902 can havebattery power or receive power via a cable (e.g., from vessel 820). Thevehicle 902 can receive communication and control information from thecable (e.g., remotely operated). The vehicle 902 can be autonomous(e.g., preprogrammed to perform one or more functions based on one ormore parameters, conditions or events). The vehicle 902 can becommunicatively connected with the skid system 800 to control one ormore component, element of function of the skid system 800 (e.g.,actuate arms, gates, conveyor, or ramp).

The vehicle 902 can include one or more sensors 904. The sensor 904 caninclude an acoustic sensor, optical sensor, transponder, transducer,receptor, detector, camera, proximity sensor, motion sensor, temperaturesensor, ambient light sensor, or any other sensor that can detect aparameter or environment condition. The sensor 904 can be configured toidentify a case or transfer system 200. For example, the case caninclude a beacon that emits an acoustic signal. The sensor 904 can trackthe acoustic signal and move towards the acoustic signal. The acousticsignal can include an acoustic signature, chirp rate, frequency, orother pattern that facilitates the vehicle 902 identifying, tracing, andlocating the source of the acoustic signal (e.g., the transfer system200).

The sensor 904 can include one or more sensors of different resolution.For example, a first sensor 904 can have a coarse resolution and asecond sensor 904 can have greater resolution to fine tune the location.For example, the sensor 904 can detect an acoustic ping to perform acoarse location determination. The ping can be transmitted by thetransfer system (e.g., beacon 234) and received by sensor 904. The pingcan indicate a position of the underwater vehicle 902 relative to thetransfer system 200. The vehicle 902 can use the ping to determine adepth of the vehicle 902 relative to the transfer system 200 or case202. For example, the sensor 904 can include multiple sensors positionedthroughout the vehicle 902 and oriented in different angles. If a sensor904 located or oriented to receive pings from above the vehicle receivesthe ping, then the vehicle 902 can determine that the transfer system200 is above the vehicle 902. If a sensor 904 located or oriented toreceive pings from below the vehicle receives the ping, then the vehiclecan determine that the transfer system is below the vehicle 902. Thesensor 904 or vehicle 902 can include one or more processors to performsignal processing techniques to determine the direction of the source ofthe ping. The sensor 904 can include a camera to identify the transfersystem 200 and align a conveyor of the skid system 800 with an openingof the transfer system 200.

Upon locating the transfer system 200, the vehicle 902 can position thecapture appliance 820 above the transfer system 200. The captureappliance 820 can be in an open position. The vehicle 902 can positionthe capture appliance 820 around the cable 702 such that the cable issubstantially (e.g., within 20%) centered in the capture appliance 820.The vehicle 904 can use one or more sensors or controllers to align thecapture appliance 820 above the transfer system 200 and around the cable702.

FIG. 10 illustrates the system 900 to acquire seismic data from aseabed. The vehicle 902 can close the capture appliance 820 and movedown towards the transfer system 200 (e.g., system 200 or 400). Thevehicle 902 can use the one or more sensors 904 to monitor the status ofthe operation or the orientation of the transfer system 200 relative tothe capture appliance 820 or component thereof. If the vehicle 902determines than the transfer system 200 is not properly orientedrelative to the capture appliance 820, the vehicle 902 can use theengine 906 to rotate or move along an axis to orient the captureappliance with the transfer system 200. For example, the vehicle 902 canuse the alignment mechanism 806 to align the capture appliance with thetransfer system 200.

In some embodiments, the vehicle 902 can include an alignment controlsystem that receives sensor data and automatically aligns the captureappliance with the transfer system. In some embodiments, the vehicle 902can receive communication signals from a remote operator to rotate ormove. The fins 206 or 208 of transfer system 200 can enter into notches806 of the alignment mechanism. This can facilitate locking, fixing, orstabilizing the orientation of the transfer system 200 relative to thecapture appliance 820. Once the fins 206 or 208 are in the notches 806,the vehicle 904 can continue to move down (e.g., via the runners 230 and232) to align the skid system 800 with an opening of the transfer system(e.g., first opening 216 or second opening 218).

FIG. 11 illustrates the system 900 to acquire seismic data from aseabed. The vehicle 904, upon rotational alignment via the alignmentmechanism 806, fins 206, and runner 230, can vertically align the firstend 822 of the conveyor 804 with an opening 216 of the transfer system200. The vehicle 902 can align the conveyor 804 with the top opening 216to load OBS units 30 into the case. The vehicle 902 can use gate 818 ofthe skid system 800 to open a gate 224 of the transfer system 200. Thevehicle 902 can initiate the conveyor 804 of the skid system to drive ordirect OBS nodes towards the first opening 216 and onto the first end212 of conveyor 302. The capture appliance 820 can hold the transfersystem 200 in place during loading of the OBS units 30 into the transfersystem 200.

The vehicle 902 can align the conveyor 804 with the bottom opening 218to receive OBS units 30 from the case, as shown in FIGS. 14 and 15. Thevehicle 902 can use gate 818 of the skid system 800 to open a gate 226of the transfer system 200. The vehicle 902 can initiate the conveyor804 of the skid system to receive or retrieve OBS nodes from the secondend 214 of conveyor 302 via second opening 218 and onto the first end822 of conveyor 804. The conveyor 804 can direct the OBS nodes 30towards the second end 824 of the conveyor 804. The capture appliance820 can hold the transfer system 200 in place during retrieval of theOBS units 30 from the transfer system 200.

FIG. 12 illustrates the system 900 to acquire seismic data from aseabed. The vehicle 902 can release the transfer system 200. The vehicle902 can release the transfer system 200 and move away from the transfersystem 200. The vehicle 902 can move above and away from the transfersystem 200, down and away from the transfer system 200, or horizontallyaway from the transfer system 200. In some embodiments, the vehicle 902can release the transfer system 200 responsive to a failure condition,error, power failure, component failure, or other condition or eventthat triggers a release procedure of the capture appliance 820 ordefault position of the capture appliance 820.

FIG. 13 illustrates the system 900 to acquire seismic data from aseabed. The capture appliance 820 can be in an open position or defaultposition where the arms 806 are locked or maintained in an openposition. The arms 806 can be temporarily connected to a portion of theconveyor 804 or frame 802 via a latch or other connecting mechanism. Thetransfer system 200 can be retrieved by raised by crane 614 to thevessel 620, and unloaded via conveyor 616 and elevator 618 to retrieveseismic data recorded on the OBS nodes 30.

FIG. 14 illustrates the system 900 to acquire seismic data from aseabed. The vehicle 902 can retrieve nodes from a bottom opening of thetransfer system 200 at a location in the water column or on the seabed.For example, the transfer system 200 (e.g., or 400) can be lowered bycrane 614 to the seabed. The vehicle 902 can approach the transfersystem 200, align the capture appliance with the transfer system, andlower itself to come into contact with the seabed such that the fins 206align and enter the notches 806. The skid system 800 can then open agate 226 on the transfer system 200, and initiate conveyor 804 toretrieve nodes 30 from the transfer system 200.

FIG. 15 illustrates the system 900 to acquire seismic data from aseabed. The conveyor 804 can retrieve nodes 30 from the transfer system200. In some embodiments, open opening gate 226, the nodes 30 may slidedown and out of the case 202 due to gravity and the helix structureprovided within the case 202. The vehicle 902 can include a retrievalmechanism (e.g., similar to deployment appliance 816) to retrieve OBSunits 30 from the seabed. The OBS units 30 can store, in memory, seismicdata acquired from the seabed. The retrieval mechanism 816 can includeone or more arms, robotic arms, suction cups, or ramps to retrieve theOBS unit from the seabed and position the OBS unit 30 onto the conveyor804. In some embodiments, the retrieval mechanism may be a separate ROVor AUV configured to retrieve OBS units 30 and place them on conveyor804.

FIG. 16 illustrates a flow diagram for a method of acquiring seismicdata from a seabed. The method 1600 can include identifying a transfersystem at act 1602. At act 1604, the method 1600 includes positioning acapture appliance above the transfer system. At act 1606, the method1600 includes closing the capture system. At act 1608, the method 1600includes moving the capture appliance towards a bottom portion of thetransfer system. At act 1610, the method 1600 includes receiving an OBSunit from the transfer system. At act 1612, the method 1600 includesplacing the OBS unit on the seabed to acquire seismic data.

The method 1600 can include identifying a transfer system at act 1602.For example, a sensor of an underwater vehicle such as an ROV or AUV canreceive or detect a ping from a beacon of a transfer system. The sensorcan convert the received ping (e.g., acoustic or optic) to an electricalsignal, and transmit the electrical signal to a processor orcommunication device of the vehicle. The transfer system broadcastingthe ping or beacon can include a case constructed to store one or moreOBS units. The underwater vehicle can include a conveyor and an arm tocapture and hold the case, and retrieve OBS nodes from the case.

At act 1604, the method 1600 includes positioning a capture applianceabove the transfer system. The sensor of the vehicle can detect the pingfrom the beacon or transponder on the case, and use the ping to positionthe arm in the open state above the case. For example, the sensor caninclude multiple sensors used to triangulate the location of the beaconon the case broadcasting the ping. In some embodiments, the vehicle (orprocessor or controller thereof) can determine a depth of the underwatervehicle relative to the case based on the ping. For example, the vehiclecan locate the beacon in three dimensions X, Y, and Z coordinatesrelative to the vehicle. The vehicle can determine an angular directionof the beacon based on the received ping.

Upon locating the case, the vehicle can move the capture applianceincluding the arm above a cap of the case. The vehicle can move the armin the open state towards a cable connected to the cap of the case thatsupports the case in an aqueous medium. The capture appliance can be inan open state and at least partially surround the cable extending fromthe cap of the case to a crane on a vessel. The case can include a firstportion that is hydrodynamic and a second portion configured to producedrag to prevent rotation of the case through an aqueous medium. The casecan include a portion having a conical shape or a domed shape.

At act 1606, the method 1600 includes closing the capture system. Forexample, an actuator of the vehicle can close the arm or one or morearms to capture or hold the case in a relatively stable position.

At act 1608, the method 1600 includes moving the capture appliancetowards a bottom portion of the transfer system. The vehicle can movethe capture appliance to lock, in a notch of the arm, a runner or fin ofthe case to align the opening of the case with the conveyor. In someembodiments, the terms runner and fin can be used interchangeably. Thebottom portion of the case can be below the cap. For example, the bottomportion of the case can refer to a top opening of the case used to loadOBS units into the case, or a bottom opening of the case used toretrieve OBS units. The vehicle can align an opening of the case with aconveyor of the underwater vehicle. The vehicle can open a gate on thecase that blocks the OBS unit from moving through the opening of thecase. Blocking the OBS unit from moving through the opening can includeor refer to restraining the OBS within the case, stopping the OBS frompassing through the case, confining the OBS unit to the case, orobstructing the passage of the OBS unit.

At act 1610, the method 1600 includes receiving an OBS unit from thetransfer system. The conveyor of the vehicle can receive, via theopening of the case, the OBS unit stored in the case or transported viathe case. For example, the vehicle can run or turn on the conveyor toretrieve the OBS unit from the case.

The case can include a helix structure provided within the case thatstores one or more OBS units. In some embodiments, the case can includemultiple helix structures provided within the case to store multiplelevels of OBS units. The OBS units can travel down the helix structure(e.g., via gravity or other means). As the vehicle retrieves OBS units,additional OBS units can travel down the helix structure behind theretrieved OBS units. For example, when the vehicle retrieves or removesa first OBS unit from the helix structure, second OBS unit behind thefirst OBS unit can also be retrieved in a train-like fashion, eventhough the OBS units are not connected or coupled to one another.Subsequent OBS units can travel down through the helix structure as eachOBS unit is retrieved from the case. For example, a last OBS unit in thecase can push the OBS unit in front of the last OBS unit. However, whenthere is only one remaining OBS unit, the conveyor of the vehicle canpull the last OBS unit out of the case because the last unit is notbeing pushed out by anything on the unpowered, gravity conveyor of thecase.

At act 1612, the method 1600 includes placing the OBS unit on the seabedto acquire seismic data. The underwater vehicle can place the OBS uniton the seabed to acquire seismic data from the seabed. The underwatervehicle can initiate recording of the OBS unit responsive to or uponplacing the OBS unit on the seabed. The OBS unit can be configured torecord upon being loaded into the case on the vessel. The OBS unit canautomatically begin recording upon detecting that it is placed on theseabed. The OBS unit can automatically begin recording upon detecting acondition or event, such as a temporal trigger, depth trigger, pressuretrigger, temperature trigger, optical signal, or acoustic signal.

FIG. 17 is a block diagram of an embodiment of a system for acquiringseismic data from a seabed. The system 1700 can include a propulsionsystem 105. The propulsion system 105 can include one or more of atleast one energy source 1705, at least one local control unit 1710, atleast one engine 1715, at least one thruster 1720, and at least onesteering device 1725. The propulsion system 105 can communicate with aremote control unit 1730 via a network 1735. For example, the propulsionsystem 105 can receive, via network 1735, an instruction from remotecontrol unit 1730 to generate force to move a transfer device 100. Thelocal control unit 1710 can receive the instruction and, responsive tothe instruction, cause the engine 1715 to convert energy provided by theenergy source 1705 into force. The engine 1715 can convey the energy orforce to a thruster 1720, such as a propeller or pump.

The propulsion system 1700 can include an energy source 1705. The energysource 1705 can include a battery, fuel, fossil fuel, petroleum,gasoline, natural gas, oil, coal, fuel cell, hydrogen fuel cell, solarcell, wave power generator, hydropower, or uranium atoms (or other fuelsource for a nuclear reactor). The energy source 1705 can be located onthe transfer device 100. The energy source 1705 can be located on thevessel 5, and the vessel 5 can provide power to the engine 1715 via apower cable, such as cable 70.

The energy source 1705 can include a sensor or monitor that measures anamount of power or fuel remaining in the energy source 1705. The sensoror monitor can provide an indication as to the amount of fuel or powerremaining in the energy source 1705 to the local control unit 1710. Thelocal control unit 1710 can conserve the energy source 1705 by reducingthe amount of force generated using energy from the energy source. Thelocal control unit 1710 can provide the indication of the amount of fuelremaining to the remote control unit 1730.

The propulsion system 105 can include an engine 1715. The engine 1715can convert energy provided by the energy source 1705 to mechanicalenergy or force. The engine 1716 can convert the energy provided by theenergy source 1705 to mechanical energy responsive to an instructionfrom the local control unit 1710 or remote control unit 1730.

The engine 1715 can include a motor. The engine 1715 can include a heatengine, internal combustion engine, or external combustion engine. Theengine 1715 can include an electric motor that converts electricalenergy into mechanical motion. The engine 1715 can include a nuclearreactor that generates heat from nuclear fission. The engine 1715 caninclude a pneumatic motor that uses compressed air to generatemechanical motion. The engine 1715 can use chemical energy to createforce.

The engine 1715 can transfer the mechanical energy to a thruster 1720.The thruster 1720 can include any device or mechanism that can generateforce to move the case 202 in a direction through the aqueous medium.The thruster can include a propeller, a paddle, an oar, a waterwheel, ascrew propeller, a fixed pitch propeller, a variable pitch propeller, aducted propeller, an azimuth propeller, a water jet, a fan, or a pump.The engine 1715 can provide the thruster 1720 with mechanical energy togenerate force. For example, the engine 1715 can provide mechanicalenergy to spin or rotate a propeller. The engine 1715 can providemechanical energy to a pump to generate pressure to create a water jetthat propels or move the case 202 in a desired direction.

The propulsion system 105 can include a steering device 1725. Thesteering device 1725 can include a rudder or use a fin 206, fin 208,runner 230 or runner 232 as a rudder. The steering device 1725 can steerthe case by generating greater force on one side of the case 202relative to another side of the case 202. For example, the case 202 orcap 228 can have two propulsion systems 105 or two thrusters 105separated by a distance or an angle. By generating greater force via oneof the thrusters 105 relative to the other thruster 105, the case 202can be steered through the aqueous medium.

The propulsion system 105 can include a local control unit 1710. In someembodiments, the propulsion system 1700 can include a local control unit1710 and a remote control unit 1730. In some embodiments, the propulsionsystem 1700 may include one of the local control unit 1710 or the remotecontrol unit 1730. The local control unit 1710 can include one or morefunction or component depicted in FIG. 19. The local control unit 1710can be designed and constructed to cause the engine 1715 to convert theenergy provided by energy source 1705 to mechanical energy to pushsurrounding water away from the case 202 in a direction opposite adirection of movement of the case 202. The engine 1715 can cause athruster 1720 to create force that moves the water in a directionopposite to the desired direction of motion of the case.

The local control unit 1710 can monitor the speed or velocity of thecase 202. The local control unit 1710 can include a GPS sensor,gyroscope, or accelerometer. The GPS sensor can receive GPS signals froma GPS satellite to determine a location of the case 202. The GPS sensorcan provide the location information (e.g., latitude and longitudecoordinates) to the local control unit 1710 or the remote control unit1730. The accelerometer can determine an acceleration, speed or velocityof the case 202 (e.g., knots, nautical miles per hour, miles per hour,or meters per hour). The gyroscope can determine an orientation of thecase 202. The control unit 1710 can determine one or more of thelocation, velocity, or orientation from these components. The localcontrol unit 1710 can use this information to determine how much forceto generate to move the case 202. The local control unit 1710 canprovide this information to the remote control unit 1730, which can,in-turn, process the information and provide instructions to the localcontrol unit 1710.

The system 1700 can include a remote control unit 1730. The remotecontrol unit 1730 can be external to the propulsion system 105. Theremote control unit 1730 can be located on the vessel 5 (e.g., controlunit 110). The remote control unit 1730 can provide instructions to thepropulsion system 105 to cause the propulsion system 105 to move,direct, or slow down the case 202 or system 200. The remote control unit1730 can receive an indication from a person or can automaticallygenerate instructions based on a configuration, policy, or setting. Forexample, the remote control unit 1730 can be configured to instruct thecase 202 to follow the vessel 5 at a predetermined location relative toa portion of the vessel 5. The remote control unit 1730 can receivelocation information for the case 202 from the local control unit 1710.The location information can include a velocity, location or orientationof the case 202. The remote control unit 1730 can determine, based onthe received location, velocity, or orientation information, to providean instruction to the local control unit 1710 to adjust the location,velocity or orientation.

In some embodiments, the local control unit 1710 can monitor thelocation, velocity and orientation of the case 202, and automaticallyinstruct the thruster 1720 or engine 1715 to generate more or less forceto adjust the velocity, orientation, or direction. The local controlunit 1710 can monitor an orientation of the case 202 and determine thatthe case is leaning to a side. For example, the case 202 may lean to aside if the case is towed by a vessel 5 that is turning. The localcontrol unit 1710, responsive to detecting that the case 202 is leaningat an angle greater than a predetermined threshold (e.g., 10 degrees, 15degrees, 20 degrees 30 degrees, 40 degrees) in a plane orthogonal to thedirection of motion, can steer or thrust the case 202 to re-orient thecase.

In some embodiments, the local control unit 1710 can include one or moresensors to detect the location of the case 202 relative to the vessel 5.For example, the control unit 1710 can include a proximity sensor todetect a location of the case relative to the vessel 5. In someembodiments, the remote control unit 1730 on the vessel can generatebeacons or pings that the local control unit 1710 can detect totriangulate a position of the case 202 relative to the vessel 5.

For example, the local control unit 1710 can include an instruction tofollow an object moving through an aqueous medium, or an instruction tofollow a vessel 5 towing the case 202 through an aqueous medium. Theobject can include, for example, a vessel 5, buoy, water vehicle,transfer device, or skid structure. The local control unit 1710 caninclude sensors such as a camera, position sensor, motion sensor,proximity sensor, transducers, radar, or other sensors that allow thelocal control unit 1710 to determine a change in a position of theobject, and move the case 202 to follow the object at a predetermineddistance from the object. In some embodiments, the remote control unit1730 can provide an indication to the local control unit 1710 as to achange in direction, speed or position of the vessel 5. The localcontrol unit 1710 can receive this indication of a change in directionor speed of the vessel 5, and adjust a speed or direction of the case202 accordingly.

The network 1735 can include a wired or wireless network. The network1735 can include a wire such as cable 70 from the vessel 5. Instructionscan be conveyed via the network 1735 using one or more communicationprotocols. The network 1735 may be connected via wired or wirelesslinks. Wired links may include Digital Subscriber Line (DSL), coaxialcable lines, or optical fiber lines. The wireless links may includeBLUETOOTH, Wi-Fi, Worldwide Interoperability for Microwave Access(WiMAX), an infrared channel or satellite band. The wireless links mayalso include any cellular network standards used to communicate amongmobile devices, including standards that qualify as 1G, 2G, 3G, or 4G.The network standards may qualify as one or more generation of mobiletelecommunication standards by fulfilling a specification or standardssuch as the specifications maintained by International TelecommunicationUnion. The 3G standards, for example, may correspond to theInternational Mobile Telecommunications-2000 (IMT-2000) specification,and the 4G standards may correspond to the International MobileTelecommunications Advanced (IMT-Advanced) specification. Examples ofcellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LTEAdvanced, Mobile WiMAX, and WiMAX-Advanced. Cellular network standardsmay use various channel access methods e.g. FDMA, TDMA, CDMA, or SDMA.In some embodiments, different types of data may be transmitted viadifferent links and standards. In other embodiments, the same types ofdata may be transmitted via different links and standards.

The network 1735 may be any type and/or form of network. Thegeographical scope of the network 1735 may vary widely and the network104 can be a body area network (BAN), a personal area network (PAN), alocal-area network (LAN), e.g. Intranet, a metropolitan area network(MAN), a wide area network (WAN), or the Internet. The topology of thenetwork 104 may be of any form and may include, e.g., any of thefollowing: point-to-point, bus, star, ring, mesh, or tree. The network1735 may be an overlay network which is virtual and sits on top of oneor more layers of other networks. The network 1735 may utilize differenttechniques and layers or stacks of protocols, including, e.g., theEthernet protocol, the internet protocol suite (TCP/IP), the ATM(Asynchronous Transfer Mode) technique, the SONET (Synchronous OpticalNetworking) protocol, or the SDH (Synchronous Digital Hierarchy)protocol. The TCP/IP internet protocol suite may include applicationlayer, transport layer, internet layer (including, e.g., IPv6), or thelink layer. The network 1735 may be a type of a broadcast network, atelecommunications network, a data communication network, or a computernetwork. The network 1735 can include wireless communicationtechnologies such as Bluetooth, Zigbee, or RFID. The network 1735 canallow for communication using small, low-power digital radios based onthe IEEE 802.15.4 standard for WPANs, such as those based on the ZigBeestandard. Systems based on the ZigBee standard can use radio-frequency(RF) and provide a long battery life and secure networking.

FIG. 18 is a flow diagram of an embodiment of a method for acquiringseismic data from a seabed. The method 1800 can include providing a caseat act 1805. At act 1810, the method 1800 can include providing a cap.At act 1815, the method 1800 can include providing a conveyor having ahelix structure. At act 1820, the method 1800 can include receiving aninstruction to move the case. A control unit can provide the instructionto a propulsion system via a wired or wireless transmission. Theinstruction can be received by the propulsion system or a control unitof the case via a wired or wireless transmission. The instruction can beto adjust a position of the case, increase a speed of the case, or tofollow a position of an object through an aqueous medium.

The propulsion system can move the case responsive to the instruction atact 1825. For example, the propulsion system (e.g., via a steeringdevice) can adjust a fin or rudder of the case to steer the case. Thepropulsion system can generate force or generate greater force toincrease a velocity of the case. The propulsion system can reduce anamount of generated force to slow down the case. The propulsion systemcan generate force in a reverse direction to further slow down the case.

FIG. 19 is a block diagram of a computer system 1900 in accordance withan embodiment. The computer system or computing device 1900 can be usedto implement one or more component, control unit, controller, sensor,interface or remote control of system 100, system 200, system 300,system 400, system 500, system 600, system 700, system 800, system 900,method 1600. The computing system 1900 includes a bus 1905 or othercommunication component for communicating information and a processor1910 a-n or processing circuit coupled to the bus 1905 for processinginformation. The computing system 1900 can also include one or moreprocessors 1910 or processing circuits coupled to the bus for processinginformation. The computing system 1900 also includes main memory 1915,such as a random access memory (RAM) or other dynamic storage device,coupled to the bus 1905 for storing information, and instructions to beexecuted by the processor 1910. Main memory 1915 can also be used forstoring seismic data, binning function data, images, reports, tuningparameters, executable code, temporary variables, or other intermediateinformation during execution of instructions by the processor 1910. Thecomputing system 1900 may further include a read only memory (ROM) 1920or other static storage device coupled to the bus 1905 for storingstatic information and instructions for the processor 1910. A storagedevice 1925, such as a solid state device, magnetic disk or opticaldisk, is coupled to the bus 1905 for persistently storing informationand instructions.

The computing system 1900 may be coupled via the bus 1905 to a display1935 or display device, such as a liquid crystal display, or activematrix display, for displaying information to a user. An input device1930, such as a keyboard including alphanumeric and other keys, may becoupled to the bus 1905 for communicating information and commandselections to the processor 1910. The input device 1930 can include atouch screen display 1935. The input device 1930 can also include acursor control, such as a mouse, a trackball, or cursor direction keys,for communicating direction information and command selections to theprocessor 1910 and for controlling cursor movement on the display 1935.

The processes, systems and methods described herein can be implementedby the computing system 1900 in response to the processor 1910 executingan arrangement of instructions contained in main memory 1915. Suchinstructions can be read into main memory 1915 from anothercomputer-readable medium, such as the storage device 1925. Execution ofthe arrangement of instructions contained in main memory 1915 causes thecomputing system 1900 to perform the illustrative processes describedherein. One or more processors in a multi-processing arrangement mayalso be employed to execute the instructions contained in main memory1915. In some embodiments, hard-wired circuitry may be used in place ofor in combination with software instructions to effect illustrativeimplementations. Thus, embodiments are not limited to any specificcombination of hardware circuitry and software.

Although an example computing system has been described in FIG. 19,embodiments of the subject matter and the functional operationsdescribed in this specification can be implemented in other types ofdigital electronic circuitry, or in computer software, firmware, orhardware, including the structures disclosed in this specification andtheir structural equivalents, or in combinations of one or more of them.

Embodiments of the subject matter and the operations described in thisspecification can be implemented in digital electronic circuitry, or incomputer software, firmware, or hardware, including the structuresdisclosed in this specification and their structural equivalents, or incombinations of one or more of them. The subject matter described inthis specification can be implemented as one or more computer programs,e.g., one or more circuits of computer program instructions, encoded onone or more computer storage media for execution by, or to control theoperation of, data processing apparatus. Alternatively or in addition,the program instructions can be encoded on an artificially generatedpropagated signal, e.g., a machine-generated electrical, optical, orelectromagnetic signal that is generated to encode information fortransmission to suitable receiver apparatus for execution by a dataprocessing apparatus. A computer storage medium can be, or be includedin, a computer-readable storage device, a computer-readable storagesubstrate, a random or serial access memory array or device, or acombination of one or more of them. Moreover, while a computer storagemedium is not a propagated signal, a computer storage medium can be asource or destination of computer program instructions encoded in anartificially generated propagated signal. The computer storage mediumcan also be, or be included in, one or more separate components or media(e.g., multiple CDs, disks, or other storage devices).

The operations described in this specification can be performed by adata processing apparatus on data stored on one or morecomputer-readable storage devices or received from other sources. Theterm “data processing apparatus” or “computing device” encompassesvarious apparatuses, devices, and machines for processing data,including by way of example a programmable processor, a computer, asystem on a chip, or multiple ones, or combinations of the foregoing.The apparatus can include special purpose logic circuitry, e.g., an FPGA(field programmable gate array) or an ASIC (application specificintegrated circuit). The apparatus can also include, in addition tohardware, code that creates an execution environment for the computerprogram in question, e.g., code that constitutes processor firmware, aprotocol stack, a database management system, an operating system, across-platform runtime environment, a virtual machine, or a combinationof one or more of them. The apparatus and execution environment canrealize various different computing model infrastructures, such as webservices, distributed computing and grid computing infrastructures.

A computer program (also known as a program, software, softwareapplication, script, or code) can be written in any form of programminglanguage, including compiled or interpreted languages, declarative orprocedural languages, and it can be deployed in any form, including as astand-alone program or as a circuit, component, subroutine, object, orother unit suitable for use in a computing environment. A computerprogram may, but need not, correspond to a file in a file system. Aprogram can be stored in a portion of a file that holds other programsor data (e.g., one or more scripts stored in a markup languagedocument), in a single file dedicated to the program in question, or inmultiple coordinated files (e.g., files that store one or more circuits,subprograms, or portions of code). A computer program can be deployed tobe executed on one computer or on multiple computers that are located atone site or distributed across multiple sites and interconnected by acommunication network.

Processors suitable for the execution of a computer program include, byway of example, both general and special purpose microprocessors, andany one or more processors of any kind of digital computer. Generally, aprocessor will receive instructions and data from a read only memory ora random access memory or both. The essential elements of a computer area processor for performing actions in accordance with instructions andone or more memory devices for storing instructions and data. Generally,a computer will also include, or be operatively coupled to receive datafrom or transfer data to, or both, one or more mass storage devices forstoring data, e.g., magnetic, magneto optical disks, or optical disks.However, a computer need not have such devices. Moreover, a computer canbe embedded in another device, e.g., a personal digital assistant (PDA),a Global Positioning System (GPS) receiver, or a portable storage device(e.g., a universal serial bus (USB) flash drive), to name just a few.Devices suitable for storing computer program instructions and datainclude all forms of non-volatile memory, media and memory devices,including by way of example semiconductor memory devices, e.g., EPROM,EEPROM, and flash memory devices; magnetic disks, e.g., internal harddisks or removable disks; magneto optical disks; and CD ROM and DVD-ROMdisks. The processor and the memory can be supplemented by, orincorporated in, special purpose logic circuitry.

To provide for interaction with a user, implementations of the subjectmatter described in this specification can be implemented on a computerhaving a display device, e.g., a CRT (cathode ray tube) or LCD (liquidcrystal display) monitor, for displaying information to the user and akeyboard and a pointing device, e.g., a mouse or a trackball, by whichthe user can provide input to the computer. Other kinds of devices canbe used to provide for interaction with a user as well; for example,feedback provided to the user can be any form of sensory feedback, e.g.,visual feedback, auditory feedback, or tactile feedback; and input fromthe user can be received in any form, including acoustic, speech, ortactile input.

While various inventive embodiments have been described and illustratedherein, those of ordinary skill in the art will readily envision avariety of other means or structures for performing the function orobtaining the results or one or more of the advantages described herein,and each of such variations or modifications is deemed to be within thescope of the inventive embodiments described herein. More generally,those skilled in the art will readily appreciate that all parameters,dimensions, materials, and configurations described herein are meant tobe exemplary and that the actual parameters, dimensions, materials, orconfigurations will depend upon the specific application or applicationsfor which the inventive teachings are used. The foregoing embodimentsare presented by way of example, and within the scope of the appendedclaims and equivalents thereto other embodiments may be practicedotherwise than as specifically described and claimed. The systems andmethods described herein are directed to each individual feature,system, article, material, or kit, described herein. In addition, anycombination of two or more such features, systems, articles, materials,kits, or methods, if such features, systems, articles, materials, kits,or methods are not mutually inconsistent, is included within theinventive scope of the present disclosure.

The above-described embodiments can be implemented in any of numerousways. For example, the embodiments may be implemented using hardware,software or a combination thereof. When implemented in software, thesoftware code can be executed on any suitable processor or collection ofprocessors, whether provided in a single computer or distributed amongmultiple computers.

Also, a computer may have one or more input and output devices. Thesedevices can be used, among other things, to present a user interface.Examples of output devices that can be used to provide a user interfaceinclude printers or display screens for visual presentation of outputand speakers or other sound generating devices for audible presentationof output. Examples of input devices that can be used for a userinterface include keyboards, and pointing devices, such as mice, touchpads, and digitizing tablets. As another example, a computer may receiveinput information through speech recognition or in other audible format.

Such computers may be interconnected by one or more networks in anysuitable form, including a local area network or a wide area network,such as an enterprise network, and intelligent network (IN) or theInternet. Such networks may be based on any suitable technology and mayoperate according to any suitable protocol and may include wirelessnetworks, wired networks or fiber optic networks.

A computer employed to implement at least a portion of the functionalitydescribed herein may comprise a memory, one or more processing units(also referred to herein simply as “processors”), one or morecommunication interfaces, one or more display units, and one or moreuser input devices. The memory may comprise any computer-readable media,and may store computer instructions (also referred to herein as“processor-executable instructions”) for implementing the variousfunctionalities described herein. The processing unit(s) may be used toexecute the instructions. The communication interface(s) may be coupledto a wired or wireless network, bus, or other communication means andmay therefore allow the computer to transmit communications to orreceive communications from other devices. The display unit(s) may beprovided, for example, to allow a user to view various information inconnection with execution of the instructions. The user input device(s)may be provided, for example, to allow the user to make manualadjustments, make selections, enter data or various other information,or interact in any of a variety of manners with the processor duringexecution of the instructions.

The various methods or processes outlined herein may be coded assoftware that is executable on one or more processors that employ anyone of a variety of operating systems or platforms. Additionally, suchsoftware may be written using any of a number of suitable programminglanguages or programming or scripting tools, and also may be compiled asexecutable machine language code or intermediate code that is executedon a framework or virtual machine.

In this respect, various inventive concepts may be embodied as acomputer readable storage medium (or multiple computer readable storagemedia) (e.g., a computer memory, one or more floppy discs, compactdiscs, optical discs, magnetic tapes, flash memories, circuitconfigurations in Field Programmable Gate Arrays or other semiconductordevices, or other non-transitory medium or tangible computer storagemedium) encoded with one or more programs that, when executed on one ormore computers or other processors, perform methods that implement thevarious embodiments of the solution discussed above. The computerreadable medium or media can be transportable, such that the program orprograms stored thereon can be loaded onto one or more differentcomputers or other processors to implement various aspects of thepresent solution as discussed above.

The terms “program” or “software” are used herein in a generic sense torefer to any type of computer code or set of computer-executableinstructions that can be employed to program a computer or otherprocessor to implement various aspects of embodiments as discussedabove. Additionally, it should be appreciated that according to oneaspect, one or more computer programs that when executed perform methodsof the present solution need not reside on a single computer orprocessor, but may be distributed in a modular fashion amongst a numberof different computers or processors to implement various aspects of thepresent solution.

Computer-executable instructions may be in many forms, such as programmodules, executed by one or more computers or other devices. Generally,program modules include routines, programs, objects, components, datastructures, or other components that perform particular tasks orimplement particular abstract data types. Typically the functionality ofthe program modules may be combined or distributed as desired in variousembodiments.

Also, data structures may be stored in computer-readable media in anysuitable form. For simplicity of illustration, data structures may beshown to have fields that are related through location in the datastructure. Such relationships may likewise be achieved by assigningstorage for the fields with locations in a computer-readable medium thatconvey relationship between the fields. However, any suitable mechanismmay be used to establish a relationship between information in fields ofa data structure, including through the use of pointers, tags or othermechanisms that establish relationship between data elements.

Also, various inventive concepts may be embodied as one or more methods,of which an example has been provided. The acts performed as part of themethod may be ordered in any suitable way. Accordingly, embodiments maybe constructed in which acts are performed in an order different thanillustrated, which may include performing some acts simultaneously, eventhough shown as sequential acts in illustrative embodiments.

The indefinite articles “a” and “an,” as used herein in thespecification and in the claims, unless clearly indicated to thecontrary, should be understood to mean “at least one.” References to“or” may be construed as inclusive so that any terms described using“or” may indicate any of a single, more than one, and all of thedescribed terms.

As used herein in the specification and in the claims, the phrase “atleast one,” in reference to a list of one or more elements, should beunderstood to mean at least one element selected from any one or more ofthe elements in the list of elements, but not necessarily including atleast one of each and every element specifically listed within the listof elements and not excluding any combinations of elements in the listof elements. This definition also allows that elements may optionally bepresent other than the elements specifically identified within the listof elements to which the phrase “at least one” refers, whether relatedor unrelated to those elements specifically identified. Thus, as anon-limiting example, “at least one of A and B” (or, equivalently, “atleast one of A or B,”) can refer, in one embodiment, to at least one,optionally including more than one, A, with no B present (and optionallyincluding elements other than B); in another embodiment, to at leastone, optionally including more than one, B, with no A present (andoptionally including elements other than A); in yet another embodiment,to at least one, optionally including more than one, A, and at leastone, optionally including more than one, B (and optionally includingother elements); etc.

In the claims, as well as in the specification above, all transitionalphrases such as “comprising,” “including,” “carrying,” “having,”“containing,” “involving,” “holding,” “composed of,” and the like are tobe understood to be open-ended, i.e., to mean including but not limitedto. Only the transitional phrases “consisting of” and “consistingessentially of” shall be closed or semi-closed transitional phrases,respectively.

What is claimed is:
 1. A system to acquire seismic data from a seabed,comprising: a case; a cap positioned adjacent to a first end of thecase; a first fin extending from the cap; a second fin extending fromthe cap, the first fin separated from the second fin by a predeterminedangle to control rotation of the case through an aqueous medium; a firstconveyor having a first helix structure and provided within the case toreceive an ocean bottom seismometer (“OBS”) unit at a first end of thefirst conveyor and transport the OBS unit via the first helix structureto a second end of the first conveyor to provide the OBS unit on theseabed to acquire the seismic data, a first distance between the firstend of the first conveyor and the cap less than a second distancebetween the second end of the first conveyor and the cap, the OBS unitcomprising a geophone; a support structure extending through a centralaxis of the first helix structure of the first conveyor and configuredto support the first conveyor, the support structure comprising a poleat a center of the first helix structure, the pole comprising groovesconfigured to couple with the first conveyor; and a propulsion systemcomprising a propeller, the propulsion system to receive an instructionand, responsive to the instruction, facilitate movement of the case. 2.The system of claim 1, comprising: a control unit having one or moreprocessors to provide the instruction to the propulsion system.
 3. Thesystem of claim 1, comprising: a control unit, remote from the case, totransmit a wired or wireless transmission comprising the instruction tothe propulsion system.
 4. The system of claim 1, wherein the instructioncomprises an instruction to follow an object moving through an aqueousmedium.
 5. The system of claim 1, wherein the propulsion systemcomprises: an energy source to provide energy; and an engine to convertthe provided energy to mechanical energy to push surrounding water awayfrom the case in a direction opposite a direction of movement of thecase.
 6. The system of claim 1, wherein the propulsion system comprises:a means to generate force to push surrounding water away from the casein a direction opposite a direction of movement of the case.
 7. Thesystem of claim 1, wherein the propulsion system comprises at least oneof: a thruster; a paddle; an oar; a waterwheel; a screw propeller; afixed pitch propeller; a variable pitch propeller; a ducted propeller;an azimuth propeller; a water jet; a fan; or a pump.
 8. The system ofclaim 1, comprising: a steering device to control a direction of themovement of the case.
 9. The system of claim 1, comprising: a secondconveyor having a second helix structure provided within the case, thesecond conveyor configured to support a second one or more OBS units.10. The system of claim 1, comprising: a plurality of conveyors providedwithin the case; and the support structure configured to support theplurality of conveyors.
 11. The system of claim 1, comprising: thesupport structure configured to extend through a central axis of asecond helix structure of a second conveyor provided within the case.12. A method of delivering a payload towards an ocean bottom,comprising: providing a case; providing a cap positioned adjacent to afirst end of the case; providing a first fin extending from the cap;providing a second fin extending from at least one of the cap or thecase, the first fin separated from the second fin by a predeterminedangle to control rotation of the case through an aqueous medium;providing a first conveyor having a first helix structure and providedwithin the case to receive an ocean bottom seismometer (“OBS”) unit at afirst end of the first conveyor and transport the OBS unit via the firsthelix structure to a second end of the first conveyor to provide the OBSunit on a seabed to acquire seismic data, a first distance between thefirst end of the first conveyor and the cap less than a second distancebetween the second end of the first conveyor and the cap, the OBS unitcomprising a geophone; providing a support structure that extendsthrough a central axis of the first helix structure of the firstconveyor and that supports the first conveyor, the support structurecomprising a pole at a center of the first helix structure, the polecomprising grooves configured to couple with the first conveyor;receiving, by a propulsion system of the case, an instruction to movethe case, the propulsion system including a propeller; and moving, bythe propulsion system responsive to the instruction, the case.
 13. Themethod of claim 12, comprising: providing, by a control unit having oneor more processors, the instruction to the propulsion system.
 14. Themethod of claim 12, comprising: transmitting, by a control unit remotefrom the case, a wired or wireless transmission comprising theinstruction to the propulsion system.
 15. The method of claim 12,comprising: providing the instruction comprising an instruction tofollow an object moving through an aqueous medium.
 16. The method ofclaim 12, comprising: providing an energy source to provide energy; andconverting, by an engine, the provided energy to mechanical energy topush surrounding water away from the case in a direction opposite adirection of movement of the case.
 17. The method of claim 12,comprising: pushing, by a means to generate force, surrounding wateraway from the case in a direction opposite a direction of movement ofthe case.
 18. The method of claim 12, comprising: providing a pluralityof conveyors within the case; and supporting, by the support structure,the plurality of conveyors.
 19. The method of claim 12, comprising:providing the support structure to extend through a central axis of asecond helix structure of a second conveyor provided within the case.20. The method of claim 12, wherein the propulsion system comprises atleast one of: a thruster; a paddle; an oar; a waterwheel; a screwpropeller; a fixed pitch propeller; a variable pitch propeller; a ductedpropeller; an azimuth propeller; a water jet; a fan; or a pump.